# 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/)


## Sketches

- **Blinky**
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 with 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 for controlling the Nexus with ROS.

- **RoFish**
 a CPG-based locomotion control example of a robotic fish, implemented on the Arduino.

- **adaptiveFreqOsc**
An Adaptive Frequency Oscillator example with the Arduino.

## Libraries

- **NativeDDS**:
A library containing a software implemented Direct Digital Synthesizer. 

- **TrueRMS**
A library for calculating the average, rms and power of DC+AC input signals, measured with the ADC.