<commit_before>## Balance Bot Beaglebone Black

This repository contains the supporting files for <NAME> and <NAME>'s Texas A&M University MEEN 652 Multivariable Control System Design Project. This repo includes:
- a standalone balance bot program
- a ROS package developed in conjunction with the open source pid package. This dependent package can be found at: http://wiki.ros.org/pid
- Linux scripts required for the beaglebone cape and pinmux setup.

![p-v-gpid](/images/balance_bot.png)

## [ROS Package: `balance_bot_for_pidpkg`](./balance_bot_for_pidpkg)

This package was build for use with the ros pid open source package. This package gives the beaglebone black the capabilties to tune and visualize any balancing bot online with a remote interface using rqt. 
<commit_msg>readme update<commit_after>## Balance Bot Beaglebone Black

This repository contains the supporting files for <NAME> and <NAME>'s Texas A&M University MEEN 652 Multivariable Control System Design Project. This repo includes:
- a standalone balance bot program
- a ROS package developed in conjunction with the open source pid package. This dependent package can be found at: http://wiki.ros.org/pid
- Linux scripts required for the beaglebone cape and pinmux setup.

![p-v-gpid](/images/balance_bot.png)

## [ROS Package: `balance_bot_for_pidpkg`](./balance_bot_for_pidpkg)

This package was build for use with the ros pid open source package. This package gives the beaglebone black the capabilties to tune and visualize any balancing bot online with a remote interface using rqt. 

- [`launch files`](/balance_bot_for_pidpkg/launch) - the balance_bot.launch file will launch all the required nodes on the beaglebone black except the driving node. Currently, this node needs to be launched seperatedly, and is named balance_bot_node_for_pidpkg. You can preconfigure the controller settings within this file. The balance_bot_QT.launch file starts the nodes required for rqt visualizations and pid dynamic reconfiguring.
- [`src`](/balance_bot_for_pidpkg/src) - The src folder contains all the cpp files required to launch the nodes described above. 

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