added libraries and Nexus Omni4WD

README.md

@@ -1,5 +1,34 @@
 # Arduino
 
 This repository contains Arduino sketches and Arduino libraries maintained by the RUG/DTPA group.
+[web link to DTPA](https://www.rug.nl/research/discrete-technology-production-automation/)
 
-[web link to DTPA](https://www.rug.nl/research/discrete-technology-production-automation/)
+
+## Sketches
+
+- Blinky
+A hello world example.
+
+- Nexus_Omni4WD
+
+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.