brushed board firmware

rpi_pico_rosserial_test/.gitignore

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+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

rpi_pico_rosserial_test/.vscode/extensions.json

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+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}

rpi_pico_rosserial_test/include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

rpi_pico_rosserial_test/lib/README

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+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in a an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

rpi_pico_rosserial_test/lib/XL320-bene/README.md

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+Dynamixel XL-320
+================
+
+<img src="http://hackerspace-adelaide.org.au/w/images/0/03/XL320-arduino-library.jpg" width="100%" alt="Dynamixel XL-320 servo library for Adruino" title="Dynamixel XL-320 servo library for Adruino">
+
+## A Servo library for Arduino
+
+Clone this repository into your Arduino libraries folder:
+
+``` $ cd ~/Documents/Arduino/libraries/ ```
+
+Restart Arduino app. :-)
+
+Open the example Arduino sketch to see how it works:
+
+``` File > Examples > XL320 > XL320_servo_example ```
+
+### Hardware
+
+[DYNAMIXEL XL-320 servo manual](http://support.robotis.com/en/product/dynamixel/xl-320/xl-320.htm) including specifications and message sending addresses.
+
+### Wiring diagram
+
+Looking from above, with the servo head at the top, wire the left plug of the servo to:
+
+* PIN1: GND
+* PIN2: 5 volts
+* PIN3: Serial TX
+
+![Dynamixel XL-320 wiring diagram](http://hackerspace-adelaide.org.au/w/images/f/f0/XL320-wiring.png)
+
+### Setting the servo serial baud rate & servoID
+
+We've included some example sketches to help test and setup your servos. Out of the box they're set to communicate via serial at 1Mbps, so you might want to set them down to something more managable by Arduino at 115200.
+
+Follow the instructions in the sketch ```XL320_servo_set_baud_rate_or_id.ino``` and don't forget to power cycle the servos in between setting anything.
+
+Note: when setting the ServoID, the servos default down to 9600 baud, so after you set the servoID you'll need to set the baud rate back up to 115200.
+
+### More information
+
+Read more about this library on the [Hackerspace Adelaide Wiki](http://hackerspace-adelaide.org.au/wiki/Dynamixel_XL-320)