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README: wifi related settings
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Signed-off-by: Thomas Chou <[email protected]>
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hippo5329 committed Feb 21, 2024
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Expand Up @@ -280,6 +280,54 @@ Constants' Meaning:

- **MOTORX_INV** - Flag used to invert the direction of the motor. More on that later.

### 3. WIFI related settings

- **USE_WIFI_TRANSPORT** - use micro-ROS wifi transport.

- **AGENT_IP** - micro-ROS agent IP. eg. { 192, 168, 1, 100 }

- **AGENT_PORT** - micro-ROS agent port. default 8888

- **WIFI_AP_LIST** - Enable WiFi with null terminated list of multiple APs SSID and password. eg. {{"WIFI_SSID1", "WIFI_PASSWORD1"}, {"WIFI_SSID2", "WIFI_PASSWORD2"}, {NULL}} . The AP with strongest signal will be used. When wifi signal is too low, the current AP will be disconnected and reconnect the AP with the strongest signal.

- **USE_ARDUINO_OTA** - Arduino OTA up load protocol support

- **USE_SYSLOG** - logging to remote syslog server.

- **SYSLOG_SERVER** - syslog server name or IP.

- **SYSLOG_PORT** - syslog server udp port. default 514

- **DEVICE_HOSTNAME** - my device name to syslog. default "linorobot2"

- **APP_NAME** - my app name to syslog. default "hardware"

- **USE_LIDAR_UDP** - push Lidar data to UDP server, which will decode the data and publish laser scan message.

- **LIDAR_RXD** - RXD pin for serial data from Lidar

- **LIDAR_BAUDRATE**

- **LIDAR_SERVER** - Lidar server IP address, eg. { 192, 168, 1, 100 }

- **LIDAR_PORT** - Lidar server UDP port, eg. 8889

### 4. Optional settings

- **BAUDRATE** - serial baudrate. default 115200

- **NODE_NAME** - ROS2 node name. default "linorobot_base_node"

- **SDA_PIN/SCL_PIN** - I2C pins assignment

- **TOPIC_PREFIX** - Namespace prefix to topic, eg "turtle1/". Useful when there are multiple robots running.

- **USE_SHORT_BRAKE** - Short brake for shorter distance to stop, only for generic_2 BT6612 and BTS7960 like motor drivers

- **BOARD_INIT** - early board specific setup

- **BOARD_INIT_LATE** - late board specific setup

## Calibration
Before proceeding, **ensure that your robot is elevated and the wheels aren't touching the ground**.
5.1
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