Pololu Dagu Wild-Thumper 6WD

ROS Mode

• Upload the code in RoverController to the Arduino board
• Create a ROS workspace and add the contents of this repo to the src folder

thumper_ws/
.... build/
.... devel/
.... src/
....... wild-thumper/

Then launch

catkin_make
source devel/setup.bash
roslaunch pololu pololu_teleop.launch

Use w, a, s, d to control the robot.

The Arduino interface was adapted from: https://github.com/watai/Robotic-Photographer

RC Mode

Connect the RC receiver to the TReX RMC

Make sure you connected the BEC Jumper to give power to the RC receiver and the Channel-Mix Jumper to control both motors at the same time.

To calibrate the RC controller, read section 3.e of the manual

https://www.pololu.com/docs/pdf/0J1/TReX.pdf

The board has 2 status LEDs (red and green) and one power LED (blue). Use them to debug according to the descriptions provided in the manual.

TODO

• Use channel 5 to switch between serial (arduino) and RC Mode.