GPIO and Motor control improving

New important update released in this version:

• Now the Input Capture (IC) can be automatically change the prescaler compare the number of interrupt generated from the encoder
• The uNav can work in Current control in cascade with velocity control loop
  • The current control works at maximum 33.2Khz
• The PID gains can be checked inside the uNav controller
• The velocity reference work in int32
• Improved the velocity measure #62
• The available GPIO can be controlled from UART.
• When the uNav enter in a traps the PWMs are disabled

New motor control feature

Fixed bugs:

• Verify the correctness of the odometry #42

Closed issues:

• Split motion.h #31

Merged pull requests:

• Feature/new motors functions #44 (rbonghi)
• added a conditional statement for enable and disable PWM #41 (rbonghi)

Full changelog avalable Full Changelog

Updated communication protocol and motor control

With this version you can control the unav with:

Communication libraries

• C++
• Java
• ROS (Robotic Operative System)

Software

• PID tuning
• Robot Param Calculator
• Simple unav Console

Fix communication packet

This release fix a long communication message and solve other problems in communication code

Fix Oscillator fail

Solve problem about oscillator fail with uNAV board.

uNAV pinout

This pre-release version is the first adaption to uNAV board. This version have same feature respect v0.1 version, but the pinout was changed for the new board.

Motion Control version

This is the first stable release for Motion Control board.

Feature:

• Low level control:
  • PID control for two motors;
• High level control:
  • Odometry measure;
• Communication with OR-B protocol;
• Setup from OR-B protocol al feature;
• Interaction with serial_bridge ros node.

This version of code function only for this board.