Now that I have my Interrupts working on the the PIO Port, I have successfully adapted some code to provide Odometry for Buzzbot, based on reading the wheel encoders.
This odometry task provides me with the following data:
- Buzzbots Location in 2D Space (X and Y cooridinates).
- Current Heading in Degees.
- Average distance travelled in centimeters.
- Angle of rotation about the axis.
I would like now to get the motor contol going, so at least I can get some basic movement, then the next step will then get some behaviour happening. The PID combined with the odometry will allow me to command Buzzbot to drive to a specific X, Y Location, so I can do some calibration on the odometry to see how accurate it is.
All these tasks run under the FreeRTOS (http://www.freertos.org).