Builds on Ubuntu

• bugfix: builds in Arduino for Ubuntu

Delta LiDARs bugfix

• bugfix: Delta, Delta-2G LiDAR decoding
• LDS library v0.6.3

Board config.yaml support

Breaking changes.

• moved board config from web to config.yaml
• upload config.yaml as sketch data
  • config.yaml stores board/robot config
  • network.yaml stores network-only config portion for security reasons
• web config GUI now only configures WiFi
  • web config got too complicated, too many parameters to set manually
• added multiple board support: assign GPIO pins in config.yaml
  • Kaia.ai-compatible boards will come with a GPIO assignment config file
  • config.yaml for Maker's Pet BDC-30P, BDC-38C4, MINI-32E, MINI-S3M boards
• cleaned up some micro-ROS parameters
• simplified motor PID library
  • removed ON_ERROR vs. ON_MEASUREMENT
  • added Kpm proportional-on-measurement factor
  • removed the direction setting (negate all PID factors to reverse control direction)
  • fixed PID adjustment for sample timing
• web config launches on BOOT button long-press without reboot
• pulled updates into the micro_ros_kaia library
• fixed library name conflict
  • renamed motor_ctl.h to motor_ctl_kaia.h
• updated LDS library
• bugfix: pause motors on WiFi loss
• Arduino ESP32 Nano builds, works
• set GPIO slew for EMC
• builds with Espressif 5.x, but issue with micro_ros communication
• bugfix: sketch data filename too long causing SPIFFS upload to fail
• zero yaw bugfix

Maker's Pet Mini default robot

• set Maker's Pet mini as the default robot
• added more N20 motors
• set/get LDROBOT LD14P rotation speed- MAKERSPET_MINI works
• added YDLIDAR X4-PRO (not tested)

Maker's Pet Mini

• Maker's Pet Mini works
  • tested with YDLIDAR SCL, LDROBOT LD14P
• more accurate motor PPRs

Brushed motor support

• motor driver
  • brushed motor support: drivers TB6612FNG, LM298N, DRV8871 and others with same IN1, IN2 control input logic
  • N20 motors supported
  • quadrature encoders
  • reverse motor direction, reverse motor encoder - for wiring convenience
• web configuration
  • additional options including PID, motor drive type, motor encoder type
  • LiDAR scan frequency option
  • automatically loads values from previous configuration
• ROS properties
  • motors: get max RPM, derated max RPM, target RPM, current RPM
  • motor encoders: get current value, get/set PPR (pulses per revolution), get TPR (ticks per revolution)
  • motor PID: get/set Kp, Ki, Kd, update period, PID mode on-error vs. on-measurement
  • robot base: get model name, base diameter, tire diameter, wheel base
  • LiDAR: get current scan rate, LiDAR model,
• code refactored into separate files for readability
  • motor controller code moved into its own library
• added support for YDLIDAR SCL
• set micro-ROS client key using ESP32 MAC for smoother micro-ROS reconnect
• refactored code into separate files
• added MAKERSPET_MINI robot to web config

Camsense X1 LiDAR

• added Delta-2A 230400 baud LiDAR version (vs old 115200 baud)
  • TODO debug fixed pattern noise
• added Delta-2B LiDAR
  • TODO debug fixed pattern noise
• added motor voltage to configuration
• added Camsense X1 LiDAR

Dependencies included; KaiaaiTelemetry2

• moved from KaiaaiTelemetry to KaiaaiTelemetry2 message
  • added battery voltage telemetry
  • added WiFi RSSI telemetry
• added LDROBOT LD14P laser distance scan sensor
• included all library dependencies in library/ to make the code self-contained
  • do not use Arduino IDE Library manager
  • instead, just copy everything to your Arduino sketch folder
• included the ESP32 sketch data upload tool in tools/

Delta-2A, -2G

• added 3irobotix Delta-2A, Delta-2G
• library version dependencies
  • LDS v0.5.0
  • ESPAsyncWebSrv v1.2.7 (including AsyncTCP, ESPAsyncTCP)
  • micro_ros_kaia v2.0.7-rolling.3
  • PID_Timed v1.1.2
• requires Kaia.ai ROS2 image kaiaai/kaiaai-ros-dev:humble-02-11-2024 or kaiaai/kaiaai-ros-dev:iron-02-11-2024

Added LiDAR/LDS sensors

• added LiDAR/LDS laser distance scan sensors support
  • YDLIDAR X3, X3-PRO
  • Neato XV11
  • RPLIDAR A1
• library version dependencies
  • LDS v0.4.0
  • ESPAsyncWebSrv v1.2.7 (including AsyncTCP, ESPAsyncTCP)
  • micro_ros_kaia v2.0.7-rolling.3
  • PID_Timed v1.1.2
• requires Kaia.ai ROS2 image kaiaai/kaiaai-ros-dev:humble-02-05-2024 or kaiaai/kaiaai-ros-dev:iron-02-05-2024