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updated README

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M. Stokroos 3 years ago
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README.md

@ -11,30 +11,28 @@ A hello world example used to play along with Git. @@ -11,30 +11,28 @@ A hello world example used to play along with Git.
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**Nexus_Omni4WD**
Firmware for the Nexus Omni4WD wheel base for setting the wheel speeds independently. It is used to control the robot under ROS.
Firmware for the Nexus Omni4WD wheel base for setting the wheel speeds independently. It is used to control the robot under ROS. The Omni4WD wheel controller hardware board #10009 with io-expansion shield is based on the Arduino Duemilanove/ATMEGA328. Take care of this when programming the controller.
![ ](figures/NexusOmni4WD.png "Nexus Omni 4WD")
*sketches/Nexus_Omni4WD* This folder contains the Arduino sketch of the firmware. The program works as a simple command interpreter for controlling the wheel speeds independently. To compile, use the libraries provided in the *extra/factory_10011.zip* archive.
*sketches/Nexus_Omni4WD.* This folder contains the Arduino sketch of the firmware. The program works as a simple command interpreter for controlling the wheel speeds independently. To compile, use the libraries provided in the *extra/factory_10011.zip* archive.
*extra/carcomm*
*testcarcom.py* is a small Python application to test the Nexus_Omni4WD firmware (sketch). The python application sends data packages to set the wheel speeds.
*testcarcom.py*. This is a small Python application to test the Nexus_Omni4WD firmware (sketch). The python application sends data packages to set the wheel speeds.
The Arduino controller 10009 with io expansion shield on the Omni4WD is Duemilanove/ATMEGA328 compatible.
*extra/nexuscontrol*. Script to control the Nexus via a ROS-node.
*extra/nexuscontrol* Script to control the Nexus via a ROS-node.
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**RoFish**
A CPG-based locomotion control example of a robotic fish.
![ ](figures/animation.gif "Robotic Fish")
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**adaptiveFreqOsc**
An adaptive frequency oscillator example with Arduino.
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**varDutyT1**
A sketch for varying (modulating) the duty-cycle of the PWM on the UNO-output pins 9 and 10 via the analog A0 input. The PWM frequency and update rate(!) = 15.625kHz. Resolution is 10-bits.

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