[Firmware] Software design about andino HOT 3 CLOSED

Added a first version of the class diagram to the repo, and it's being reviewed on the following PR: #26

from andino.

I wanted to drop here an idea so as to leave it documented somewhere.

I am ok using rosserial, I think that following the ros-way as much as possible is something that I see value on
And we already started following that path, so the following comment could be though as an enhancement in the future.

For our particular case:

• Control motors via low-level hardware.
• Communicate/serve the information to a higher layer.

It is a case that is commonly known and it actually isn't particular to ros or any other robotic framework.

I found this repository https://github.com/joshnewans/ros_arduino_bridge
which a arduino motor controller is implemented and the serial communication is already resolved.
The pro of using this I believe:

• Easy to debug: Simply sending commands via serial is enough to test out the behavior of the motors. This is useful duign the building phase of the carpincho.
• Being independent of ros in the lower level gives us the flexibility to use exactly the same firmware for any version of ros wanted to be used (ROS1/ROS2)

The cons:

• Maybe not easy to extend when wanting to incorporate other low level sensors

from andino.

Closed as:

• Implicitly solved at #35
• It doesn't fully apply anymore this issue.

from andino.