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PWM Port Example

Package 'nsdk_example_pwm':

This package contains two executors: pwm_control_subscriber and pwm_publisher.

  1. Executor pwm_control_subscriber controls the PWM by using mraa library, when pwm_control_subscriber get the message from pwm_publisher, it will set the PWM signal including duty cycle and period.
  • Run the pwm_control_subscriber of this package by using:
 ros2 run nsdk_example_pwm pwm_control_subscriber
  1. Executor pwm_publisher publishes messages every 1 second to the topic /pwm_control_msg, and in the message contains 2 parameters,period and duty cycle.
  • Run the pwn_publisher of this package by using.
ros2 run nsdk_example_pwm pwm_publisher <Period of PWM(in microsecond)> <Duty Cycle(in percentage)>
#For example, you want to set the period of pwm to 50000us and duty cycle to 50%, you should run this node by using:
ros2 run nsdk_example_pwm pwm_publisher 50000 50