{"id":22614751,"url":"https://github.com/newir295/ros_pid_tunning","last_synced_at":"2026-04-28T11:33:52.717Z","repository":{"id":265354171,"uuid":"895814353","full_name":"NEWIR295/ROS_PID_TUNNING","owner":"NEWIR295","description":"PID tunning for motors using ROS","archived":false,"fork":false,"pushed_at":"2024-11-29T03:18:09.000Z","size":17,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-03-29T00:29:34.614Z","etag":null,"topics":["encoder","microcontroller","motor","motor-dr","pid-control","ros","ros-noetic"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/NEWIR295.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2024-11-29T00:55:50.000Z","updated_at":"2024-11-29T03:18:12.000Z","dependencies_parsed_at":null,"dependency_job_id":"a0b86e50-d8ee-4886-87ce-caa457fd1e66","html_url":"https://github.com/NEWIR295/ROS_PID_TUNNING","commit_stats":null,"previous_names":["newir295/ros_pid_tunning"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/NEWIR295/ROS_PID_TUNNING","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/NEWIR295%2FROS_PID_TUNNING","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/NEWIR295%2FROS_PID_TUNNING/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/NEWIR295%2FROS_PID_TUNNING/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/NEWIR295%2FROS_PID_TUNNING/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/NEWIR295","download_url":"https://codeload.github.com/NEWIR295/ROS_PID_TUNNING/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/NEWIR295%2FROS_PID_TUNNING/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":32379331,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-04-28T11:25:28.583Z","status":"ssl_error","status_checked_at":"2026-04-28T11:25:05.435Z","response_time":56,"last_error":"SSL_connect returned=1 errno=0 peeraddr=140.82.121.5:443 state=error: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["encoder","microcontroller","motor","motor-dr","pid-control","ros","ros-noetic"],"created_at":"2024-12-08T18:11:56.215Z","updated_at":"2026-04-28T11:33:52.683Z","avatar_url":"https://github.com/NEWIR295.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"\n# ROS_PID_TUNNING\n\nThis repository contains the **ROS_PID_TUNNING** project, designed to facilitate the tuning and implementation of a PID controller for motor speed control. The project is organized into two main directories:  \n\n1. **ROS_PID_TUNNING_WS**  \n2. **PID_HW_INTERFACE**  \n\n---\n\n## Overview  \n\nThis project aims to provide a comprehensive setup for controlling motor speed using PID control through ROS and hardware interfaces. The system allows:  \n\n- **Real-time visualization** of desired and actual speed using `matplotlib`.  \n- **Dynamic reconfiguration** of PID parameters (`P`, `I`, `D`) and motor speed during runtime.  \n- Compatibility with motor drivers like **L298** and **Cytron**.  \n\n---\n\n## Directories  \n\n### 1. ROS_PID_TUNNING_WS  \n\nThis directory contains the ROS workspace for the PID tuning package:  \n\n- **Package**: `pid_tunning`  \n- **Functionality**:  \n  - Launch a ROS node for PID control and dynamic reconfiguration.  \n  - Visualize motor speed in real-time using `matplotlib`.  \n  - Adjust PID parameters and motor speed dynamically.  \n\n### 2. PID_HW_INTERFACE  \n\nThis directory includes the hardware interface code for motor control:  \n\n- **Micro-controller Node**: Controls motor speed using a motor driver.  \n- **Supported Motor Drivers**:  \n  - **L298**  \n  - **Cytron**  \n- **Configuration File**: `ctrl.h`  \n  - Ensure to set proper parameters, such as **Pulses Per Revolution (PPR)**, based on the selected encoder.  \n\n---\n\n## Usage  \n\n### Running the ROS Node  \n\nTo launch the PID tuning package:  \n\n```bash  \nroslaunch pid_tunning pid.launch  \n```  \n\nThis will:  \n- Start the ROS node for PID control.  \n- Enable dynamic parameter adjustments.  \n- Plot desired and actual speed in real time using `matplotlib`.  \n\n### Adjusting Parameters  \n\n- **PID Parameters (`P`, `I`, `D`)**:  \n  Use `dynamic_reconfigure` to adjust these parameters while the system is running.  \n\n- **Motor Speed**:  \n  Dynamically adjust the motor speed through `dynamic_reconfigure`.  \n\n- **Hardware Configuration (`ctrl.h`)**:  \n  - Set the **PPR** (Pulses Per Revolution) value based on the used encoder.\n  - Ensure proper motor wiring and connections.  \n\n---\n\n## Requirements  \n\n- **Software**:  \n  - [ROS Noetic (recommended)](http://wiki.ros.org/noetic)  \n  - `dynamic_reconfigure` package for ROS.  \n  - Python packages:  \n    - `matplotlib` for real-time plotting.  \n\n- **Hardware**:  \n  - **Microcontroller**: Arduino (Uno or similar).  \n  - **Motor Driver**: Cytron or L298.  \n  - **DC Motor with Encoder**: Ensure compatibility with your driver and controller.  \n\n---\n\n## Additional Notes  \n\n- **Safety Precautions**:  \n  - Verify motor connections before powering up.  \n  - Use appropriate power supplies for the motor driver and motor.  \n\n---\n\n## Author  \n\n**Mohamed Newir**  \n- [LinkedIn](https://www.linkedin.com/in/mohamed-newir-a8a572182)  \n\nFeel free to reach out for any inquiries or collaborations! 🎉","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fnewir295%2Fros_pid_tunning","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fnewir295%2Fros_pid_tunning","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fnewir295%2Fros_pid_tunning/lists"}