I have some questions about implementing a mobile robot. I have an old construction mobile robot wherein this robot the main controller has been removed, and I put in its place a Raspberry Pi 4.

I found this library https://abyz.me.uk/rpi/pigpio/index.html I managed by sending pulses through the GPIO to have movement on the wheels. From this How to use pigpio to control a servo motor with a keyboard? , I found what the values 1000-2000 mean.

How can I implement a code so that at these values I know the speeds on the wheels?

I want all this to pass the code to ROS.

Thanks in advance!

  • Any idea about my queries?
    – BiLLaKoS
    May 23 at 16:23


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