We are receiving a stream of position in radiants for each of the joints.
We are set on using the AccelStepper library for dealing with stepper motors. This allows us to achieve the following:
- move a stepper motor by specifying a target absolute position;
- Group and move motors together.
Before doing this we need to receive information from ROS and translate the stream of radiant position to a sequence of motor position to pass to the AccelStepper library.
Hint: ROS communication will be asynchronous and we cannot afford to lose information because we are performing some other action. This is most likely a job for interrupts.
Resources
We are receiving a stream of position in radiants for each of the joints.
We are set on using the
AccelStepperlibrary for dealing with stepper motors. This allows us to achieve the following:Before doing this we need to receive information from ROS and translate the stream of radiant position to a sequence of motor position to pass to the
AccelStepperlibrary.Hint: ROS communication will be asynchronous and we cannot afford to lose information because we are performing some other action. This is most likely a job for interrupts.
Resources