Arduino <-> Jetson Communication

[bchandaka]

• Explore Jake's Code

[bchandaka]

Jake's Code: https://github.com/jnicke7/iris-electrical

[Quantum26]

//First byte: contains checksum and motorVal, in the Order Checksum:[7:3], motorVal[2:0]
//Second byte: is the power value.
/*

• Input[0],[1],[2] correspond to motor
  KEY:
  Motor ID:
  0: Left Drive
  1: Right Drive
  2: Bucket Ladder M
  3: dump conveyor LA
  4: bucket ladder LA
  5: agitator
  6: dump conveyor M
  7: stops motors
  */

Generating Checksum:
--TODO--

[Quantum26]

init:
self.arduino = serial.Serial(port = '/dev/ttyACM0',baudrate = 9600, timeout = .1)
self.power = 0

def power_to_bytes(self) -> bytes: #converts self.power into bytes
x = abs(self.power) + 256 * self.numMotor + 256 * 16
#x is two bits, power must be between -127 and 127. probably.
#first byte should be # of motor + b'00010000 <- makes sure non-inputs are not read as power (similar to CRC)
#second byte is power (most significant bit is negative sign)
if(self.power < 0):
x += 128
return x.to_bytes((x.bit_length() + 7) // 8, 'big')

def sendPower(self):
self.arduino.write(self.power_to_bytes()) #writes power to serial

[Quantum26]

• Create ROS2 arduino package ( needs to be able to start joy, python script, and upload .ino to arduino)

• Set up Computer <-> Jetson communication to test with remote control

[Quantum26]

https://answers.ros.org/question/377723/ros2-multiple-machines/ possible fix to jetson not communicating properly