This repo's first objective is to obtain feedback from the vehicule's potentiometer attached to it's atriculation. To accomplish that the stm32 based Nucleo-F303k8 MCU was used you can find the MCU code, config and related documents on in the Badger Steering Folder.
This is a simple ros2 package that contains the serial link to the STM32 steering patch this is meant to be a teporary package
This is a package that defines the Badger_status topic. This package is meant to expand into a full low-level status update topic collection.
The main goal of this project is to develop a CANBus driver capable of commanding the motors on the platform. Communication on a Can bus between the High level computer and a roboteq MDC Roboteq MDC2460s motor driver and the custom made ESP 32 Motor driver interface.
With this interface we aim to attain better control over the Kelly HPM brushed DC motor driver