v1.2.3

This release brings a simple serial protocol which can be used to communicate with the Arduino and a master computer, such as a Raspberry Pi 4.

This version is related to Episode 06 of the series, Building an Autonomous Robot From Scratch.

Changes since v1.1.3

New Features

• serial_protocol: A very simple serial protocol to control the robot using the motor_controller. Refer to the README.md for more information.
• motor_controller: A new method move_open_loop has been created to control motors with PWM
• motor_controller: A new method get_motor_status has been created to get motor's data to send when requested
• motor_controller: A new method reset_pose has been created to reset robot's pose to 0
• motor_controller: A new method move_forward has been created which set's the robot to move forward at 0.3 m/s
• motor_controller: A new method move_backward has been created which set's the robot to move backwards at -0.3 m/s
• motor_controller: A new method turn_left has been created which set's the robot to move backwards at 0.5 rad/s
• motor_controller: A new method turn_right has been created which set's the robot to move backwards at -0.5 rad/s
• motor_controller: A new method stop has been created which stops the robot's movement

V1.1.3

This release has a new feature that has been implemented, which is a motor controller.

Changes since v1.0.0

Bug Fixes

• motor_driver: PID output limits have been corrected to [-255,255]
• configuration: PID gains have been improved

New Features

• motor_controller: A motor controller class has been implemented capable of receiving velocity commands and compute robot pose
• configuration: new parameters have been added, such as distance between wheels.
• motor_driver: the set_velocity() method now bounds to input velocity to config parameter
• motor_driver: reset methods have been implemented to reset motor data & encoder ticks

v1.0.0

This version includes a Motor Driver for controlling a L298N driver. It is capable of working in both Open and Close loop control.

This version is also related to episode 4 of the series Building an Autonomous Robot From Scratch, which can be found on YouTube