From 3b2742b4443b034010ff978d0b528cad8c80254e Mon Sep 17 00:00:00 2001 From: Patrick Goebel Date: Sat, 15 Dec 2012 11:00:40 -0800 Subject: [PATCH] Added some comments to MegaRobogaiaPololu sketch --- README.md | 4 ++-- .../src/libraries/MegaRobogaiaPololu/diff_controller.h | 7 +++++-- .../src/libraries/MegaRobogaiaPololu/servos.h | 2 +- 3 files changed, 8 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index 0382d4b3..2953cf47 100644 --- a/README.md +++ b/README.md @@ -182,7 +182,7 @@ The *sensorstate\_rate* determines how often to publish an aggregated list of all sensor readings. Each sensor also publishes on its own topic and rate. -The base\_controller\_rate determines how often to publish odometry readings. +The *base\_controller\_rate* determines how often to publish odometry readings. _Defining Sensors_ @@ -198,7 +198,7 @@ second (or even once every 2 seconds: rate=0.5), whereas a sonar sensor might be polled at 20 times per second. The *type* must be one of those listed (case sensitive!). The default *direction* is input so to define an output pin, set the direction explicitly to output. In -the example above, the Arduino LED (pin 13) will be blinked on and off +the example above, the Arduino LED (pin 13) will be turned on and off at a rate of 2 times per second. _Setting Drivetrain and PID Parameters_ diff --git a/ros_arduino_firmware/src/libraries/MegaRobogaiaPololu/diff_controller.h b/ros_arduino_firmware/src/libraries/MegaRobogaiaPololu/diff_controller.h index 292833b9..02846812 100644 --- a/ros_arduino_firmware/src/libraries/MegaRobogaiaPololu/diff_controller.h +++ b/ros_arduino_firmware/src/libraries/MegaRobogaiaPololu/diff_controller.h @@ -1,5 +1,8 @@ -/* Functions and type-defs for PID control. Take mostly from Mike Ferguson's - ArbotiX code. +/* Functions and type-defs for PID control. + + Taken mostly from Mike Ferguson's ArbotiX code which lives at: + + http://vanadium-ros-pkg.googlecode.com/svn/trunk/arbotix/ */ /* PID setpoint info For a Motor */ diff --git a/ros_arduino_firmware/src/libraries/MegaRobogaiaPololu/servos.h b/ros_arduino_firmware/src/libraries/MegaRobogaiaPololu/servos.h index 8b953b7a..4a0d92d4 100644 --- a/ros_arduino_firmware/src/libraries/MegaRobogaiaPololu/servos.h +++ b/ros_arduino_firmware/src/libraries/MegaRobogaiaPololu/servos.h @@ -1,5 +1,5 @@ /* Define the attachment of any servos here. - The example shows one servo attached on pin 11. + The example shows two servos attached on pins 3 and 6. */ #define N_SERVOS 2