Fener Arduino Codes

This repo contains Fener's Arduino codes.

This code drives the vehicle using encoder data, remote control data, and Jetson Nano commands.

It regularly receives IMU data from Jetson Nano, and sends encoder data to Jetson Nano. It is an extension of the ard_comm node of the ROS2 package that runs on Fener.

Related Projects

This project is related to these project listed below.

Fener Vehicle ROS2

Fener Console ROS2

How To Upload

Clone Repo

  git clone https://github.com/sezer-muhammed/Fener-Ard-Repo-v1.git

Open Arduino IDE and select your port and card type.

Then Upload the code to Arduino.

Note

We used Nano Every, so you may need to check digital interrupt pins of your arduino. Click here to check.

Requirements

This project uses PID_V1, Servo, Adafruit_PWMServoDriver, and Wire libraries. First be sure that you installed these libraries.

Hardware Configuration

Required connections are listed below. You also can find a graph that shows these connections.

Servo Driver
Steering Servos to pin 5 and 7
I2C pins of the Arduino
ESC's 5v BEC Circuit

Arduino
ESCs to pin 9 and 10
I2C pins of the Servo Driver
USB Cable of Jetson Nano
Encoders to pin 4, 5, 6, and 7
RC Receiver to pin A0, A1, GND, and 5v

Jetson Nano
BNO055 IMU sensor
USB Cable of Arduino

Complete Schematic

Example Wiring

Feedback

If you have any feedback please send an email to muhammed.sezer@metu.edu.tr

Contributors

• @sezer-muhammed

Thanks

• @katherinepeterson For readme.so.