[2020] ROS bluetooth controller [prototype]

The idea was that the controller must be ease to program, for that I used Arduino (full program available in the files section), so here are an explanation of the parts of the code that I considered more useful to understand and, of course, a general review of all the code.

The first part are de libraries used:

By default ros in the ros serial examples the TX/RX in the IC handle the nodes connections, but is possible to change that defining a new class and using it in the ros::NodeHandle declaration:

The function that fill the variables with data is:

The last part is:

So that's all, if you have any question just ask in the comments.

In this part you can see the parts of the device like the 3d model and electronic hardware in general, this is the appearance:

So, the inside looks like: