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README.md

pacbot Hardware Access Layer

Features:

  • Drives DC motors over an H-Bridge with PWM
  • Reads high frequency quadrature signals
  • Configures and reads from multiple VL6180X distance sensors
  • Uses the super secret DMP on the MPU6050
  • Runs PID control loops
  • Has a shiny Python wrapper for higher level algorithms and logic

Setup:

Download and install pigpio c library

rm pigpio.zip
sudo rm -rf PIGPIO
wget abyz.me.uk/rpi/pigpio/pigpio.zip
unzip pigpio.zip
cd PIGPIO
make
sudo make install

Build and install HAL code as python library

git clone https://github.com/ut-ras/pb-HAL.git
cd pb-HAL
sudo python3 setup.py install
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