From 63d5f60fd00bcb00cc89c20b08949254c662d493 Mon Sep 17 00:00:00 2001 From: "M. Stokroos" Date: Tue, 3 Dec 2019 11:15:00 +0100 Subject: [PATCH] updated README --- README.md | 14 ++++++-------- 1 file changed, 6 insertions(+), 8 deletions(-) diff --git a/README.md b/README.md index c855dec..80524d1 100644 --- a/README.md +++ b/README.md @@ -11,30 +11,28 @@ A hello world example used to play along with Git. # **Nexus_Omni4WD** -Firmware for the Nexus Omni4WD wheel base for setting the wheel speeds independently. It is used to control the robot under ROS. +Firmware for the Nexus Omni4WD wheel base for setting the wheel speeds independently. It is used to control the robot under ROS. The Omni4WD wheel controller hardware board #10009 with io-expansion shield is based on the Arduino Duemilanove/ATMEGA328. Take care of this when programming the controller. ![ ](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. +*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. +*testcarcom.py*. This 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. -*extra/nexuscontrol* Script to control the Nexus via a ROS-node. -# **RoFish** A CPG-based locomotion control example of a robotic fish. ![ ](figures/animation.gif "Robotic Fish") -# + **adaptiveFreqOsc** An adaptive frequency oscillator example with Arduino. -# + **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.