PID Tuner

This application can help you characterize a DC motor and tune a PID controller for it.

Install ROS Packages

sudo apt-get install ros-${ROS_DISTRO}-rosserial-arduino
sudo apt-get install ros-${ROS_DISTRO}-rosserial

cd ~/catkin_ws/src

rosdep install -y --from-paths . --ignore-src --rosdistro noetic

Install Arduino Packages

• QuadratureEncoder by Cheng Saetern
• EnableInterrupt by Mike "GreyGnome" Schwager
• Adafruit_INA260 by Adafruit

Build

Build the workspace:

cd ~/catkin_ws
catkin_make

Build the Arduino serial node:

rosrun rosserial_arduino make_libraries.py ~/Arduino/libraries

The Arduino libraries are usually in ~/Arduino/libraries. If you installed Arduino IDE as a snap, you could also try looking in ~/snap/arduino.

Build serial.ino ROS Serial node and upload to Arduino.

Run

Launch the Arduino Serial node with ROS Bridge:

roslaunch pidtuner pidtuner.launch

Launch the React application:

cd ui
npm i
npm run dev

Command line interface

Velocity Command

rostopic pub /velocity pidtuner/VelocityCommand "{ command: 0.5 }" -1

Position Command

rostopic pub /position pidtuner/PositionCommand "{ goal: 0.0, tolerance: 0.0 }" -1

Step Playback

rostopic pub /step pidtuner/StepCommand "{
    loop: false, \
    steps: [ \
        { command: 1.5, duration: 2.0 }, \
        { command: 0.0, duration: 1.0 }, \
        { command: 0.3, duration: 1.0 }, \
        { command: 1.0, duration: 2.0 }, \
        { command: 0.0, duration: 1.0 },
    ] \
}" -1

Emergency Stop

rostopic pub /estop pidtuner/EmergencyStop "{ stop: true }" -1

Velocity Feedback

rostopic echo /velocity

Position Feedback

rostopic echo /position

Configuration

rostopic pub /configuration pidtuner/Configuration \
"{ \
    LPWMpin: 3, \
    RPWMpin: 11, \
    ADCpin: 0, \
    csPin: 53, \
    Apin: 18, \
    Bpin: 19, \
    Kp: 200, \
    Ki: 10, \
    Kd: 10, \
    iMin: 0, \
    iMax: 100, \
    pwmMin: 0, \
    pwmMax: 1, \
    pwmInvert: false, \
    absoluteMin: 0, \
    absoluteMax: 1, \
    absoluteInvert: false, \
    quadratureInvert: true \
}" -1