fxprime

/* -------------------------------------------------------------------------- */
/*                   ModuleMore AM2306 (Modbus) Example code                  */
/* -------------------------------------------------------------------------- */

/* ------------------------------- วิธีการต่อ ------------------------------- */
/**
 * ESP8266 ---> MAX485 ---> AM2306
 * 5V          5V         RED
 * GND         GND        BLACK
 * -           RE (ต่อกับDE)

fxprime

from machine import Pin, Timer
from time import sleep
import time
from neopixel import Neopixel # neopixel lib = https://github.com/blaz-r/pi_pico_neopixel/blob/main/neopixel.py


LED_PIN = 25
USRBUTTON_PIN = 24
NEOPIXEL_PIN = 23

fxprime

/* ------------------ Relay Reading/Writing code by ModuleMore.com ----------------- */

/* ------------------------------- วิธีการต่อ ------------------------------- */
/**
 * @file main.cpp
 * @author ModuleMore.com ([email protected])
 * @brief รับส่งค่า relay เวอร์ชั่น RS485 โดยใช้ RS485 to TTL (รุ่นมี tx rx และ gnd ของ rs485)
 * สื่อสารผ่าน Serial1 (ที่เรา define ขาไว้เป็น RX = 13, TX = 15) ด้วย Library ModbusMaster
 * 
 * Wiring

fxprime

/* ------------------ Relay Reading/Writing code by ModuleMore.com ----------------- */

/* ------------------------------- วิธีการต่อ ------------------------------- */
/**
 * @file main.cpp
 * @author ModuleMore.com ([email protected])
 * @brief รับส่งค่า relay เวอร์ชั่น RS485 โดยใช้ RS485 to TTL (รุ่นมี tx rx และ gnd ของ rs485)
 * สื่อสารผ่าน Serial1 (ที่เรา define ขาไว้เป็น RX = 13, TX = 15) ด้วย Library ModbusMaster
 * 
 * Wiring

fxprime

/**
  Example of Modulemore XKC-Y25-PNP (NO configuration) 
  Sensor ---- Arduino
  (Brown) VCC  = 5v
  (Yellow) INPUT = digital 5 --> 4.7k ohm --> GND
  (Blue) GND = GND
  (Black) Not connected.
*/
int XKC_NO_PIN = 5;
void setup() {

fxprime

/* -------------------------------------------------------------------------- */
/*                   ModuleMore SHT20 (Modbus) Example code                  */
/* -------------------------------------------------------------------------- */

/* ------------------------------- วิธีการต่อ ------------------------------- */
/**
 * ESP32 ---> MAX485 ---> XY-MD02
 * 3.3V        3.3V       
 * GND         GND        - 
 * 21          RX

fxprime

/**
  www.modulemore.com 
  Example for serial mode of GY-25
  Product link : https://www.modulemore.com/product/1888/เซนเซอร์วัดการเอียง-gy-25-tilt-sensor-module-mpu-6050
  Based on : https://forum.arduino.cc/t/run-gy-25-in-arduino-ide-with-kalman-filter/565016
  PDF : http://mkpochtoi.ru/GY25_MANUAL_EN.pdf
*/

#include <SoftwareSerial.h>
static const int RXPin = 2, TXPin = 3;  // announce your Rx and Tx pins

fxprime

### ekf config file ###
ekf_filter_node:
    ros__parameters:
# The frequency, in Hz, at which the filter will output a position estimate. Note that the filter will not begin
# computation until it receives at least one message from one of the inputs. It will then run continuously at the
# frequency specified here, regardless of whether it receives more measurements. Defaults to 30 if unspecified.
        frequency: 25.0

# The period, in seconds, after which we consider a sensor to have timed out. In this event, we carry out a predict
# cycle on the EKF without correcting it. This parameter can be thought of as the minimum frequency with which the

fxprime

import launch
from launch_ros.actions import ComposableNodeContainer, Node
from launch_ros.descriptions import ComposableNode


def generate_launch_description():
    """Launch file which brings up visual slam node configured."""
 

fxprime

#include <i2cmaster.h>

#define uint16_t unsigned int
typedef struct
{
  uint16_t Red;
  uint16_t Green;
  uint16_t Blue;
  uint16_t Clear;
} RGB;