Adds the Balance Bot's two wheels to a robot
Hangs a :left_wheel_joint and a :right_wheel_joint off :base_link,
each carrying a BB.NSK.Wheel actuator on its DRV8837, and adds the
:motor parameter group the deadband compensation reads.
After this the wheels can be driven directly, which is the first thing worth doing to a new board:
BB.Actuator.velocity(MyBot.Robot, :left_wheel, 5.0)
BB.Actuator.stop(MyBot.Robot, :left_wheel)Which wheel is which
Left and right are the robot's, not yours. Standing in front of it looking at it, its left is on your right. The PWM channels below are confirmed against the hardware by driving each wheel and watching which way the robot goes, and this has been got wrong three times — if a wheel turns the wrong way, resolve it by driving it and watching rather than by reasoning from the schematic.
Example
mix bb_nsk.add_wheels
Options
--robot- The robot module (defaults to{AppPrefix}.Robot).