Controls

Contains all code for the controls subsystem.
Control subsystem is responsible for accurate control of rover and arm.

Drive Control:

Arduino mega is used for motor control which is interfaced to jetson xavier using rosserial.

Arm Control:

Arm has been controlled using a game pad which has been used programmed using arduino mega.
A custom inverse kinematics controller has been implemented for the arm to acheive accurate control.

File Descriptions:

Drive code.
Arm code

Contributors:

• Rajath Shetty
• Aadhar Sharma
• Shambhavi Singh
• Aditya Bidwai