Please note this is work in progress and not yet complete

ROS 2 Waveshare Motor Driver HAT Package

ROS 2 Driver Package for the PCA9685 based Waveshare Motor Driver HAT on a Rasperbery Pi for a two-wheeled differential drive and castor robot.

Converts /cmd_vel topic to i2c register settings for the PCA9685 to control a differential drive robot.

• https://www.waveshare.com/motor-driver-hat.htm
• https://www.waveshare.com/wiki/Motor_Driver_HAT

ToDo:

• Add feedback mechanism using wheel encoders
• Add runaway timeout protection

Created from these tutorials:

• https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html
• https://docs.ros.org/en/humble/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Publisher-And-Subscriber.html

Inspiration taken from:

• https://github.com/stevej52/ros2_pca9685