I'm not sure what your platform requirements are, but ROS's control_toolbox offers hardened basic PID controls including those used on the PR2. On Tue, Feb 25, 2014 at 11:14 AM, Jon Stephan wrote: > Have you checked out http://wiki.ros.org/ros_arduino_bridge ? There is > arduino PID code in there. > > -Jon > > > > On Mon, Feb 24, 2014 at 6:40 PM, Chris Jones < > chris.jones@overthrowrobotics.com> wrote: > >> I've been working on a boxing robot for the last few years and in the >> process we needed to come up with our own high amp motor driver setup and I >> wanted to see if anyone would find it useful. >> >> The basic setup is an Arduino 2560/Due compatible shield that has >> connections for up to 6 motor drivers and 6 encoders. >> >> The motor drivers will handle up to 40A of power and use standard PCI-E >> power connectors so that it can be powered by a standard PC power supply. >> There's no reason you couldn't connect a 12V battery to it but out >> application didn't require it. >> >> We're using the AS5040 magnetic encoders and for our application we're >> mounting them to the back of a 12V wormgear motor to create a pseudo-servo >> but with the low cost and power of a DC motor (200W in our application). >> >> The motor driver/encoder connects to the Arduino shield via an RJ45 >> connection. This way you can easily make your own cables for your specific >> application. >> >> We're finishing up modules for Arduino and ROS so that it can be plugged >> in to your application without much effort. We're pretty new to PID control >> so if anyone is interested in the project and would like to help out with >> some PID code send me a message. >> >> My plan was to sell them to help pay for development of our main robot >> but I may consider open-sourcing the entire design. >> >> >> -- >> Chris Jones >> Overthrow Robotics >> chris.jones@overthrowrobotics.com >> 310-400-0256 >> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@lists.ros.org >> http://lists.ros.org/mailman/listinfo/ros-users >> >> > > _______________________________________________ > ros-users mailing list > ros-users@lists.ros.org > http://lists.ros.org/mailman/listinfo/ros-users > >