1 00:00:05,980 --> 00:00:09,560 Hey, now we are going to read the values of the encoders. 2 00:00:09,580 --> 00:00:17,080 Each motor have three magnetic encoders and we will get three value encoder spin are connected to 2322 3 00:00:17,200 --> 00:00:21,940 for the left motor, 19 and 18 for the right motor. 4 00:00:21,940 --> 00:00:27,400 We are going to digitally these pins and convert it to the encoder texts. 5 00:00:27,430 --> 00:00:34,480 We use the encoders for the odometry calculation that how much the robot has traveled after implementing 6 00:00:34,480 --> 00:00:35,920 some mathematical equation. 7 00:00:36,940 --> 00:00:41,230 So let's modify our micro Ros code. 8 00:00:41,560 --> 00:00:46,870 Now we are going to make two Publisher one will be publishing the left encoder ticks, the other one 9 00:00:46,870 --> 00:00:49,630 will be publishing the right encoder ticks. 10 00:00:49,900 --> 00:00:59,290 Now we will import Int32 because this is going to handle a bigger number this time zero and 32. 11 00:00:59,320 --> 00:01:05,890 As we have created the publisher for the Battery, we are going to create two publishers more. 12 00:01:05,890 --> 00:01:10,690 And now we have to define the pins for the encoders of the motor. 13 00:01:10,720 --> 00:01:18,340 The C1 of the left motor is connected at 23 and C2 for the left motor is connected at 22. 14 00:01:18,340 --> 00:01:26,980 And in the case of the right motor, the C1 is connected at 19 and C2 is connected at 18 right it here 15 00:01:26,980 --> 00:01:28,090 encoder spin. 16 00:01:28,090 --> 00:01:34,210 And now we will be creating the variables that will be storing value of encoder from the left and right 17 00:01:34,210 --> 00:01:34,570 motors. 18 00:01:34,570 --> 00:01:41,020 Also their particular prototype function that will be calculating the number of ticks. 19 00:01:41,050 --> 00:01:48,640 Now we are going to add two publisher in the world setup as we have added some previous publishers. 20 00:01:48,640 --> 00:01:51,220 And here it is the battery publisher. 21 00:01:51,220 --> 00:01:54,280 Under this, we will be adding our two new publishers. 22 00:01:54,400 --> 00:01:58,510 These two are the topic of publisher, the left motor tics and the right motor ticks. 23 00:01:58,510 --> 00:02:04,690 And down here we will not need to change anything because these additional publisher will be publishing 24 00:02:04,690 --> 00:02:08,410 the value inside the timer callback function. 25 00:02:08,410 --> 00:02:16,690 So will we will not change any parameter here because we have already set up the timer and it sets will 26 00:02:16,720 --> 00:02:19,180 be three again and above here. 27 00:02:19,180 --> 00:02:24,160 We also have to set up the pins and we will set up two input mode. 28 00:02:24,160 --> 00:02:31,120 And we have also used the interrupt convention when the Esp32 pin will be detecting a change in the 29 00:02:31,120 --> 00:02:38,050 pin, it will go to the callback function and we are going to define these two callback function in 30 00:02:38,050 --> 00:02:40,870 the end like this. 31 00:02:41,020 --> 00:02:48,070 So these two are the callback functions for the left encoder and the right encoder we have to set same 32 00:02:48,070 --> 00:02:48,580 as previous. 33 00:02:48,580 --> 00:02:50,470 Then it will be adding the number by one. 34 00:02:50,470 --> 00:02:54,550 And if state is not the same, it will be decreasing the number by one. 35 00:02:54,550 --> 00:03:01,180 So now we are going to publish this number on to the topics and the timer callback. 36 00:03:01,180 --> 00:03:09,650 So here we will first set the the message of the left motor encoder and the right motor encoder because 37 00:03:09,680 --> 00:03:12,500 these two motors are placed opposite to each other. 38 00:03:12,500 --> 00:03:14,750 So the right water will be working fine. 39 00:03:14,750 --> 00:03:20,480 But in the case of left motor, when the wheel goes forward, it will be giving us the value in the 40 00:03:20,480 --> 00:03:21,110 minus. 41 00:03:21,110 --> 00:03:24,440 But if it goes backward, it will be giving us the positive. 42 00:03:24,470 --> 00:03:30,440 So this is why we will put an extra negative sign in in front of the left encoder count. 43 00:03:30,470 --> 00:03:34,520 Now, we are publishing these messages in here. 44 00:03:34,550 --> 00:03:39,590 Now we are going to connect the robot esp32 with the PC. 45 00:03:39,890 --> 00:03:41,450 Upload the sketch. 46 00:03:41,960 --> 00:03:44,810 This sketch is uploaded successfully. 47 00:03:44,810 --> 00:03:49,940 Now we will plug out this connected for a micro Ros agent. 48 00:03:52,400 --> 00:03:54,860 And turn on the button. 49 00:03:55,430 --> 00:03:56,570 It will be connecting. 50 00:03:59,400 --> 00:04:00,780 This is connected. 51 00:04:01,110 --> 00:04:02,280 Ross Topic list. 52 00:04:02,400 --> 00:04:03,280 There we go. 53 00:04:03,300 --> 00:04:07,200 Left motor takes and the right motor takes. 54 00:04:07,350 --> 00:04:11,550 And we will be echoing both of them. 55 00:04:14,490 --> 00:04:18,600 Left motor dick and it is saying that it is zero. 56 00:04:18,600 --> 00:04:21,900 And we are also going to echo, right? 57 00:04:21,930 --> 00:04:22,920 Motor encoder. 58 00:04:26,350 --> 00:04:27,820 And this is also zero. 59 00:04:27,820 --> 00:04:30,920 Now, first, let's let's change the left motor encoder. 60 00:04:30,940 --> 00:04:34,900 And we are going to rotate the wheel in the forward direction. 61 00:04:36,310 --> 00:04:38,620 There is changing the value. 62 00:04:39,190 --> 00:04:44,950 And if we see the right encoder, we are moving it forward. 63 00:04:44,950 --> 00:04:47,410 And this is adding. 64 00:04:48,490 --> 00:04:52,600 And if we move it backward, this is going to subtract. 65 00:04:53,570 --> 00:04:55,180 Alright, this is working. 66 00:04:55,210 --> 00:04:56,290 That's good. 67 00:04:58,220 --> 00:05:01,790 Now we are going to see the RCT. 68 00:05:06,020 --> 00:05:07,940 She has the lion turtle. 69 00:05:07,970 --> 00:05:13,640 Esp32 is publishing the left and right motor ticks.