ROS导航小车----下位机的程序总结

在我们电脑连接arduino MEGA 2560后，我们打开arduino设置完串口和板子，这时候我们就需要写程序了！

1. encoder.h

//below can be changed, but should be PORTD pins;
//A wheel encode pin
#define ENC_A_PIN_A  2   //pin 2 -- interrupt 0
#define ENC_A_PIN_B  3   //pin 3 -- interrupt 1

//B wheel encode pin
#define ENC_B_PIN_A  21  //pin 21 -- interrupt 2
#define ENC_B_PIN_B  20  //pin 20 -- interrupt 3

//C wheel encode pin
#define ENC_C_PIN_A  19   //pin 19 -- interrupt 4
#define ENC_C_PIN_B  18   //pin 18 -- interrupt 5

long readEncoder(int i);
void resetEncoder(int i);
void resetEncoders();

void initEncoders();

编码器的引脚连接就是根据这个来连接的！

2.. encoder_driver

static volatile long A_enc_pos = 0L;
static volatile long B_enc_pos = 0L;
static volatile long C_enc_pos = 0L;

/*init encoder connect pin*/
void initEncoders()
{
  pinMode(ENC_A_PIN_A, INPUT);
  pinMode(ENC_A_PIN_B, INPUT);
  attachInterrupt(0, encoderA_ISR, CHANGE);
  attachInterrupt(1, encoderA_ISR, CHANGE);

  pinMode(ENC_B_PIN_A, INPUT);
  pinMode(ENC_B_PIN_B, INPUT);
  attachInterrupt(2, encoderB_ISR, CHANGE);
  attachInterrupt(3, encoderB_ISR, CHANGE);

  pinMode(ENC_C_PIN_A, INPUT);
  pinMode(ENC_C_PIN_B, INPUT);
  attachInterrupt(4, encoderC_ISR, CHANGE);
  attachInterrupt(5, encoderC_ISR, CHANGE);
}

/* Interrupt routine for A encoder, taking care of actual counting */
void encoderA_ISR ()
{
  if (directionWheel(A_WHEEL) == BACKWARDS)
  {
    A_enc_pos--;
  }
  else 
  {
    A_enc_pos++;
  }
}

/* Interrupt routine for B encoder, taking care of actual counting */
void encoderB_ISR () 
{
  if (directionWheel(B_WHEEL) == BACKWARDS)
  {
    B_enc_pos--;
  }
  else 
  {
    B_enc_pos++;
  }
}

/* Interrupt routine for C encoder, taking care of actual counting */
void encoderC_ISR () 
{
  if (directionWheel(C_WHEEL) == BACKWARDS)
  {
    C_enc_pos--;
  }
  else 
  {
    C_enc_pos++;
  }
}

/* Wrap the encoder reading function */
long readEncoder(int i) 
{
  if (i == A_WHEEL)
  {
    return A_enc_pos;
  }
  else if (i == B_WHEEL)
  {
    return B_enc_pos;
  }
  else
  {
    return C_enc_pos;
  }
}

/* Wrap the encoder reset function */
void resetEncoders() {
  A_enc_pos = 0L;
  B_enc_pos = 0L;
  C_enc_pos = 0L;
}

在这些程序中，最重要的就是编码器程序了。

这个是小车底盘的所有arduino程序（三轮全向轮小车）：

链接：https://pan.baidu.com/s/1Y5HgqodHH7eNaTVKtFND0g
密码：y2re