smallembedded

【ART-Pi】Multifunctional car driver board based on ROS system control

Overview

1. rt-thread thread utilization

Thread 1 network communication:

Mainly responsible for maintaining communication with the controller.

Thread 2 ROS car running instructions node processing:

Accept the linear velocity and angular velocity sent from the host computer to the controller.

Thread 3 The car runs PID control:

Use the data from thread 2 to control the motor, detect the movement through mpu6050, and implement PID closed-loop control.

Thread 4 Infrared tracking node:

The external environment is detected through the tracking module and feedback is given to the host computer.

Thread 5 Ultrasonic ranging node:

The external environment is detected through the ultrasonic ranging module and feedback is given to the host computer.

Thread 6 ROS image transfer node:

Reserved, no requirements for now.

Design Files

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Update:2025-06-21 15:44:05

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