# Project

### **Q1: Should STM32 install microROS?**
* advantage: microROS can build node directly
if not, we need to use **protocol** such as rosserial protocol:
https://www.youtube.com/watch?v=cq0HmKrIOt8
https://blog.csdn.net/qq_37416258/article/details/84844051

install video: https://www.youtube.com/watch?v=xbWaHARjSmk
install github: https://github.com/micro-ROS/micro_ros_stm32cubemx_utils#middlewares-available

### **Q2: Is it easier to encoder by Auduino IDE?**

### **Q3: Should STM32 be controlled by Arduino IDE?**

* **How?**
Video:
1. https://www.youtube.com/watch?v=sB4lZ2zG5V8
2. https://www.youtube.com/watch?v=1x-aNEtag88
Chinese Version: https://atceiling.blogspot.com/2020/09/arduino81stm32arduino-ide.html
Github: https://github.com/stm32duino/Arduino_Core_STM32
Add in Arduino IDE Board Manager: https://github.com/stm32duino/BoardManagerFiles/raw/main/package_stmicroelectronics_index.json

### **Q4: How to encoder multiple DC motors?**
* **Arduino IDE**
video: https://www.youtube.com/watch?v=3ozgxPi_tl0
code: https://github.com/curiores/ArduinoTutorials/tree/main/MultipleEncoders
* **STM32**
one motor:https://www.youtube.com/watch?v=3D67GEdGxGM
four motors: perhaps no, with unfortunate result https://electronics.stackexchange.com/questions/545000/connecting-multiple-encoders-in-to-stm32-timx-hardware-counter-using-channels-3

* **NOW:** try this one
https://www.youtube.com/watch?v=xqzWQgpqHmI
STM32 IDE code finished (setup TIM2)
wait for power supplier -> try the code

* ### **Remote control car**
teleop-arduino: https://www.twblogs.net/a/5b8106002b71772165aa9fa5