May 9 2020: Totally rewrite this project for ROS2
- MCU can communicate with host via message based on nanopb
- MCU can send logs to host, which is also based on nanopb
- MCU read data from IMU(MPU6050)
- TODO
- Motor close loop controller
| Pin | Function | Description |
|---|---|---|
| PD8 | USART3_RX | |
| PD9 | USART3_TX | |
| PB14 | on-board LED(red) | |
| PB8 | I2C1_SCL | IMU |
| PB9 | I2C1_SDA | |
| PA6 | TIM3_CH1 | Hall Sensor1 |
| PA7 | TIM3_CH2 | Hall Sensor1 |
| PD12 | TIM4_CH1 | Hall Sensor2 |
| PD13 | TIM4_CH2 | Hall Sensor2 |
| PC6 | TIM8_CH1 | Motor1 |
| PC7 | TIM8_CH2 | Motor1 |
| PC8 | TIM8_CH3 | Motor2 |
| PC9 | TIM8_CH4 | Motor2 |