vivekagra / swarm

This Repository Contains all my code and scripts and designs used for making swarm bots

swarm

This Repository will contain all cad models, reading material, scripts and code that are used in making swarm squad

jarvis_state_updater

Parameters -

1. rate          = 10
2. err_tick_incr = 20
3. jarvis_on     = True
4. R		 = 0.03

Published topics -

1.  front_lwheel_w_enc
2.  front_rwheel_w_enc
3.  rear_lwheel_w_enc
4.  rear_rwheel_w_enc

Subscribed topics -

1.  front_lwheel_w_control 
2.  front_rwheel_w_control 
3.  rear_lwheel_w_control
4.  rear_rwheel_w_control
5.  front_lwheel_w_motor
6.  front_rwheel_w_motor
7.  rear_lwheel_w_motor
8.  rear_rwheel_w_motor

jarvis_controller

Reads the target w velocity for each wheels and convert them to a pwm signal and send it to arduino. Also reads angular velocity of each wheel and apply pid on it and modify the signal to reduce the error

Parameters -

1.  kp            = 1 
2.  ki    	  = 1
3.  kd    	  = 1
4.  rate  	  = 50
5.  motor_max_w   = 62.8319
6.  motor_min_w   = 31.4159
7.  motor_cmd_max = 255
8.  motor_cmd_min = 100
9.  pid_on        = False
10. controller_on = False

Published topics -

1.  front_lwheel_w_control 
2.  front_rwheel_w_control 
3.  rear_lwheel_w_control
4.  rear_rwheel_w_control
5.  front_lwheel_w_motor
6.  front_rwheel_w_motor
7.  rear_lwheel_w_motor
8.  rear_rwheel_w_motor

Subsribing topics -

1.  front_lwheel_w_enc
2.  front_rwheel_w_enc
3.  rear_lwheel_w_enc
4.  rear_rwheel_w_enc
5.  front_lwheel_w_target
6.  front_rwheel_w_target
7.  rear_lwheel_w_target
8.  rear_rwheel_w_target

Work Pending -

1.  vel to cmd is assumed linear change it after finding appropriate relation
2.  Check pid integral

jarvis_teleop

Command velocity and direction to bot to move in a desired direction

Parameters -

1.  speed = 0.5
2.  turn  = 1.0

Published topics -

1.  cmd_vel

mecanum_drive_controller

This package take target velocities in x y z diretion and convert them to angular velociy of individual wheels

Parameters -

1.  H		 = 0.5
2.  V    	 = 1.0
3.  R    	 = 0.03
4.  rate 	 = 50
5.  timeout_idle = 2

Published topics -

1.  front_lwheel_w_target 
2.  front_rwheel_w_target 
3.  rear_lwheel_w_target
4.  rear_rwheel_w_target

Subsribing topics -

1.  cmd_vel

omnidrive_odometry

This package try to localize the robot based on odometry data

Parameters -

1.  H              = 0.125
2.  V    	   = 0.075
3.  R    	   = 0.03
4.  rate  	   = 50
5.  N   	   = 280
6.  frame_id       = /odom
7.  child_frame_id = /base_link

Published topics -

1.  cmd_vel_enc 
2.  odom 

Subsribing topics -

1.  front_lwheel_w_enc
2.  front_rwheel_w_enc
3.  rear_lwheel_w_enc
4.  rear_rwheel_w_enc

Pending Work -

Compute the odomtery

arduino

Parameters -

Published topics -

1. front_lwheel_w_enc
2. front_rwheel_w_enc
3. rear_lwheel_w_enc
4. rear_rwheel_w_enc

Subsribing topics -

1. front_lwheel_w_motor
2. front_rwheel_w_motor
3. rear_lwheel_w_motor
4. rear_rwheel_w_motor