ackermann-pwm-base

README

ackermann-pwm-base

A module for a ackermann-steered base that controls steering and driving via pwm servos

Usage

1. Build binary

If you clone this repository to the target environment where you run your Viam robot, then you can build a binary named ackermann with:

go build -o ackermann

Alternatively, if you want to build a binary for a different target environment, please use the viam canon tool.

2. Add to robot configuration

Copy the binary to the robot (system where viam-server is running) and add the following to your configuration:

  ...
  "modules": [
    ...,
    {
      "executable_path": "<path_to_binary>",
      "name": "ackermann-module"
    },
    ...,
  ],
  "components": [
    ...,
    {
      "name": "anything",
      "type": "base",
      "model": "viam-labs:base:ackermann-pwm-base",
      "attributes": {
        "steer": "steerServo",
        "drive": "driveServo",
        "turning_radius_meters": 0.2,
        "wheelbase_mm": 300,
        "max_speed_meters_per_second": 2.5
      }
    },
    ...,
  ],
  ...

Explanation of required configuration parameters:

"steer": The name of the servo used for steering

"drive": The name of the servo used for driving

"turning_radius_meters": The turning radius of the base as measured from its centerpoint, in meters

"wheelbase_mm": Distance from the front wheels to the rear wheels

"max_speed_meters_per_second": The speed at which the robot will travel if driven at 100%.

The following are optional configuration parameters:

"invert_steer": Set this to true to swap left/right steering direction

"invert_drive": Set this to true to swap forward/reverse driving directions

For more information on how to configure modular components, see this example.

Documentation

Overview

package main is a module with an ackermann pwm base component