# Arduino

This repository contains Arduino sketches and Arduino libraries maintained by the [RUG/DTPA](https://www.rug.nl/research/discrete-technology-production-automation/) group.


## Sketches

**Blinky**

A hello world example used to play along with Git.
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**Nexus_Omni4WD**

Firmware for the Nexus Omni4WD wheel base for setting the wheel speeds independently. It is used to control the robot under ROS.

![ ](figures/NexusOmni4WD.png  "Nexus Omni 4WD")

*sketches/Nexus_Omni4WD* This folder contains the Arduino sketch of the firmware. The program works as a simple command interpreter for controlling the wheel speeds  independently. To compile, use the libraries provided in the *extra/factory_10011.zip* archive.

*extra/carcomm*

*testcarcom.py* is a small Python application to test the Nexus_Omni4WD firmware (sketch). The python application sends data packages to set the wheel speeds.

The Arduino controller 10009 with io expansion shield on the Omni4WD  is Duemilanove/ATMEGA328 compatible.

*extra/nexuscontrol* Script to control the Nexus via a ROS-node.
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**RoFish**

A CPG-based locomotion control example of a robotic fish.

![ ](figures/animation.gif  "Robotic Fish")
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**adaptiveFreqOsc**

An adaptive frequency oscillator example with Arduino.
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**varDutyT1**

A sketch for varying (modulating) the duty-cycle of the PWM on the UNO-output pins 9 and 10 via the analog A0 input. The PWM frequency and update rate(!) =  15.625kHz. Resolution is 10-bits.


## Libraries
Currently there are no libraries available.
