Firmware for the Nexus Omni4WD chassis for setting the wheel speeds independently. It is used to control the robot from ROS.
![](/local/martin/Git.dtpa/Arduino/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.
## Libraries
- NativeDDS
Arduino library for a software implemented Direct Digital Synthesizer.
- TrueRMS
Arduino library that calculates the average, rms and power of DC+AC input signals, measured with the ADC.