Receiving and interpreting data on the Arduino side

[dyamon]

We are receiving a stream of position in radiants for each of the joints.

We are set on using the AccelStepper library for dealing with stepper motors. This allows us to achieve the following:

• move a stepper motor by specifying a target absolute position;
• Group and move motors together.

Before doing this we need to receive information from ROS and translate the stream of radiant position to a sequence of motor position to pass to the AccelStepper library.

Hint: ROS communication will be asynchronous and we cannot afford to lose information because we are performing some other action. This is most likely a job for interrupts.

Resources

• AccelStepper library reference
• AccelStepper "missing manual"
• Possibly a good intro to interrupts
• Possibly a good video on interrupts
• Follow-up video on software interrupts