## github repository ewyn2

## Arduino pins
# AREF
# GND
# 13 - Motor IN-4
# 12 - Motor IN-3
# 11 - Motor IN-2
# 10 - Motor EN-B
# 09 - Motor EN-A
# 08 - Motor IN-1
#
# 07 - Ping Servo PWM
# 06
# 06
# 04
# 03 (INT-1) Ping
# 02 (INT-0)
# 01 Tx (serial)
# 00 Rx (serial)
#
# 14 Tx3
# 15 Rx3
# 16 Tx2
# 17 Rx2
# 18 Tx1 INT-5 QRB (wh)
# 19 Tx1 INT-4 QRA (blk)
# 20 SDA INT-3 SDA
# 21 SCL INT-2 SDB

## In terminal 1 -- run ROSCORE
# Note the following exports, particularl ROS_IP and ROS_MASTER_URI
#declare -x ROS_DISTRO="indigo"
#declare -x ROS_ETC_DIR="/opt/ros/indigo/etc/ros"
#declare -x ROS_IP="10.0.1.118"
#declare -x ROS_MASTER_URI="http://localhost:11311"
#declare -x ROS_PACKAGE_PATH="/home/pi/ewyn_ws/install/share:/home/pi/ewyn_ws/install/stacks:/home/pi/ewyn_ws/src:/home/pi/catkin_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks"
#declare -x ROS_ROOT="/opt/ros/indigo/share/ros"

source ewyn_ws/install/setup.bash
roscore

## In terminal 2 -- run the rosserial client to listen to the Arduino
source ewyn_ws/install/setup.bash
roslaunch rosserial_server serial.launch port:=/dev/ttyACM0

# In terminal 3 -- develop code for the arduino, then push using
cd ~/ewyn_ws/platformio
platformio run

# In terminal 3 or a new terminal -- listen to topics
source ewyn_ws/install/setup.bash
rostopic list
rostopic echo motorLog
rostopic echo /turtle1/cmd_vel

# On Linux machine
export ROS_IP=10.0.1.14
export ROS_MASTER_URI="http://10.0.1.118:11311"
rosrun turtlesim turtle_teleop_key