[ros-users] high power ROS/Arduino motor driver

Dave Coleman davetcoleman at gmail.com
Thu Feb 27 05:20:41 UTC 2014

I'm not sure what your platform requirements are, but ROS's
control_toolbox<http://wiki.ros.org/control_toolbox> offers
hardened basic PID controls including those used on the PR2.

On Tue, Feb 25, 2014 at 11:14 AM, Jon Stephan <jfstepha at gmail.com> 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 at 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 at overthrowrobotics.com
>> 310-400-0256
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