My new Micro ROS replaced code is available for your amusement

[Michael Wimble]

I got rid of Micro ROS for communication with my Teensy 4.2 that manages the motors and does battery monitoring. I haven’t added back in the safety code that checks for, e.g., motor runaway, over current and such and there are a few other minor things I need to add in. I completely redesigned this code to use USB serial to talk to an agent on the main PC computer for the robot. It now works much, much better than before, has definable message rates, computes odometry better, manages motor acceleration shaping better and so on. I’ve confirmed the speed calculations using a video tachometer watching the wheels. I’m a happy camper.