Motor Controller

Overview

The Motor Controller service (C++) controls the robot’s motors.
It calculates individual motor speeds based on target speed and direction, runs a software PWM loop, and uses a PID controller to maintain correct motor speeds.

It also publishes real-time motor data (speeds, targets, PID values) via MQTT.

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Best Practices

• Other services only need to send desired headings and speeds - the controller handles the rest.
• Always run in a named screen session: MotorController.
• Start the MQTT Broker first.

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🛠️ Commands

Action	Command
Compile	g++ main.cpp MotorController.cpp MotorControl.cpp Encoder.cpp MQTTHandler.cpp PID.cpp -o MotorController -lgpiod -lmosquitto -lpthread
Run	sudo screen -S MotorController ./MotorController
Test if running	`sudo screen -list
Stop	sudo screen -S MotorController -X stuff "^C"

Warning

The stop command only works if the session is named MotorController.