Jump straight to 24:25 for the finished product!

Learn everything you need about adding a motor to your robot, including how to connect it to a Raspberry Pi running ROS!

Repo for Arduino firmware https://github.com/joshnewans/ros_ard...
Repo for serial_motor_demo ROS package https://github.com/joshnewans/serial_...


Here are a few videos explaining/demonstrating aspects of PID control (thanks to Eric Mack for the suggestions!). Hopefully some day I'll get around to making my own...

Simple Visualisation    • PID control  
Technical Explanation    • PID Controller Explained  
Physical demo    • PID demo  


00:00 Intro
00:27 A layered solution
01:25 Basic power, motor drivers
02:57 Motor Controllers (open and closed loop)
05:53 Pi as motor controller (?), comms link
07:21 Robot controller and software driver
09:30 Demo circuit overview
10:38 Wiring the motor driver
12:53 Making the motor controller, openloop test
15:56 Encoders and closedloop control
22:00 Setting up ROS driver
24:25 Using the control UI, outro