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https://github.com/newir295/ros_pid_tunning
PID tunning for motors using ROS
https://github.com/newir295/ros_pid_tunning
encoder microcontroller motor motor-dr pid-control ros ros-noetic
Last synced: 4 days ago
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PID tunning for motors using ROS
- Host: GitHub
- URL: https://github.com/newir295/ros_pid_tunning
- Owner: NEWIR295
- License: bsd-3-clause
- Created: 2024-11-29T00:55:50.000Z (2 months ago)
- Default Branch: main
- Last Pushed: 2024-11-29T03:18:09.000Z (2 months ago)
- Last Synced: 2024-12-08T18:12:06.849Z (2 months ago)
- Topics: encoder, microcontroller, motor, motor-dr, pid-control, ros, ros-noetic
- Language: C++
- Homepage:
- Size: 16.6 KB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# ROS_PID_TUNNING
This 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:
1. **ROS_PID_TUNNING_WS**
2. **PID_HW_INTERFACE**
---
## Overview
This project aims to provide a comprehensive setup for controlling motor speed using PID control through ROS and hardware interfaces. The system allows:
- **Real-time visualization** of desired and actual speed using `matplotlib`.
- **Dynamic reconfiguration** of PID parameters (`P`, `I`, `D`) and motor speed during runtime.
- Compatibility with motor drivers like **L298** and **Cytron**.
---
## Directories
### 1. ROS_PID_TUNNING_WS
This directory contains the ROS workspace for the PID tuning package:
- **Package**: `pid_tunning`
- **Functionality**:
- Launch a ROS node for PID control and dynamic reconfiguration.
- Visualize motor speed in real-time using `matplotlib`.
- Adjust PID parameters and motor speed dynamically.
### 2. PID_HW_INTERFACE
This directory includes the hardware interface code for motor control:
- **Micro-controller Node**: Controls motor speed using a motor driver.
- **Supported Motor Drivers**:
- **L298**
- **Cytron**
- **Configuration File**: `ctrl.h`
- Ensure to set proper parameters, such as **Pulses Per Revolution (PPR)**, based on the selected encoder.
---
## Usage
### Running the ROS Node
To launch the PID tuning package:
```bash
roslaunch pid_tunning pid.launch
```
This will:
- Start the ROS node for PID control.
- Enable dynamic parameter adjustments.
- Plot desired and actual speed in real time using `matplotlib`.
### Adjusting Parameters
- **PID Parameters (`P`, `I`, `D`)**:
Use `dynamic_reconfigure` to adjust these parameters while the system is running.
- **Motor Speed**:
Dynamically adjust the motor speed through `dynamic_reconfigure`.
- **Hardware Configuration (`ctrl.h`)**:
- Set the **PPR** (Pulses Per Revolution) value based on the used encoder.
- Ensure proper motor wiring and connections.
---
## Requirements
- **Software**:
- [ROS Noetic (recommended)](http://wiki.ros.org/noetic)
- `dynamic_reconfigure` package for ROS.
- Python packages:
- `matplotlib` for real-time plotting.
- **Hardware**:
- **Microcontroller**: Arduino (Uno or similar).
- **Motor Driver**: Cytron or L298.
- **DC Motor with Encoder**: Ensure compatibility with your driver and controller.
---
## Additional Notes
- **Safety Precautions**:
- Verify motor connections before powering up.
- Use appropriate power supplies for the motor driver and motor.
---
## Author
**Mohamed Newir**
- [LinkedIn](https://www.linkedin.com/in/mohamed-newir-a8a572182)
Feel free to reach out for any inquiries or collaborations! 🎉