Work with Arduino

Mainboard includes ATmega2560 MCU with tracing corresponding to Arduino Mega board to allow use of standard shields. MCU comes with Arduino bootloader preinstalled. Thus controller is out-of-box ready to launch Arduino IDE sketches. To work with MCU, you need to download and install Arduino IDE from arduino.cc website. Choose Arduino Mega 2560 in Board settings.

ROS interaction

ATmega is connected to Raspberry via Serial1 port. Service rosserial on the Raspberry platform controls data exchange between ATmega and ROS. To connect Arduino to ROS you have to initialize ros_lib with parameters Serial1 and 115200 baudrate as shown below

#include <ros.h>

class NewHardware : public ArduinoHardware
{
  public:
  NewHardware():ArduinoHardware(&Serial1, 115200){};
};

ros::NodeHandle_<NewHardware>  nh;

You can look for examples at rosserial official documentation at http://wiki.ros.org/rosserial_arduino/Tutorials

Arduino ros_lib library

To work with Arduino throughout ROS you have to install ros_lib library Download at https://yadi.sk/d/BcI1126boKkf-A New libraries install in Arduino IDE guide https://www.arduino.cc/en/guide/libraries If you plan to use custom message you have to build ros_lib by yourself with command

rosrun rosserial_arduino make_libraries.py

and then move it to Arduino libraries folder

Arduino features

Forward part of mainboard includes two buttons connected to D23 and D24 pins and two switches connected to D22 and D25. To read them use function digitalRead(pin)Between switches there are four LEDs connected to D26, D27, D28 and D29 pins. Left side of the platform has three headers for use with servos - D44, D45 and D46.

WARNING! Servo headers are powered up by dedicated power supply capable of providing 4 Amps at 5 Volts. In no case these power pins can be connected to other pins of mainboard!

RGB LEDs stripe

Under the board, there are 24 RGB LEDs of the WS2812 model. We advise to use FastLED library to control this LED stripe. Controlling pin is D30.