EtherCAT Arduino Shield by Esmacat (EASE)
Esmacat Master S
Esmacat Master C
ROS
Hardware Connections
Required Libraries
Software
Running the Esmacat Master Code
Results

Published September 1, 2020 © GPL3+

Turtlesim Teleop with EtherCAT and Arduino Using ROS

Use ROS (running on Esmacat Master S/ Esmacat Master C) to teleoperate the turtlesim node using analog input from LCD Shield with EASE.

IntermediateFull instructions provided2 hours1,885

Things used in this project

Hardware components

Esmacat Master S

EtherCAT Master for the tutorial.

Esmacat Master C

(Alternate) EtherCAT Master for this tutorial

EtherCAT Arduino Shield by Esmacat (EASE)

EtherCAT Slave for the application

Arduino UNO

Ethernet Cable, Cat6a

Power over Ethernet (POE) Injector

DC Adapter

DC Adapter to power the EASE and Arduino boards

16x2 LCD Shield

Analog input to control the turtlesim Node

Software apps and online services

Arduino IDE

ROS Robot Operating System

ROS kinetic or above to interface with the EASE board.

Story

You can read more about this and other Esmacat tutorials on Hackster.io and the official Esmacat website.

Also check out our EASE Crowd Supply Campaign Page: https://www.crowdsupply.com/harmonic-bionics/ease

Overview:

In this tutorial, you will learn how to set up an Esmacat Master S / Esmacat Master C running Robot Operating System (ROS) to act as an EtherCAT master. It will be used to control the turtlesim node using an EtherCAT Arduino Shield by Esmacat (EASE) Slave device.

First, some general information about the EtherCAT Master and ROS is discussed.
After learning to set up the EtherCAT Master, you will learn to implement a practical project to teleoperate the Turtlesim Node using analog value input from the LCD Shield with EASE using ROS.

EtherCAT Arduino Shield by Esmacat (EASE):

EASE Is an EtherCAT slave that connects to an EtherCAT master (Raspberry Pi/PC/ Laptop/ Dedicated EtherCAT Master devices like the Esmacat Master S and Esmacat Master C.) It can be stacked on top of Arduino, other MCU boards with an Arduino Uno form factor, and shields. This shield allows high-speed communication with an industry-standard EtherCAT protocol for high-performance robotic applications. Esmacat's simple to use Arduino and Mbed libraries allow for easy coding on the baseboard and Esmacat's free open source EtherCAT master software has a high-level abstraction so users can run applications within minutes!

1 / 2 • EASE EtherCAT Slave

Feature Highlights:

EASE connects Arduino boards, Arduino-like boards, and Arduino Shields for large-scale applications.
High-speed communication (200Mbps, 200x faster than CAN bus) is supported with EtherCAT which is an industrial-standard Fieldbus for automation.
The EtherCAT hardware/software is present only on EASE so there is no performance lost on the MCU baseboard.
EASE has the form factor of Arduino Uno and thus can take advantage of the Arduino ecosystem.
Daisy chain connection between multiple EASE simplifies the topology of wiring.
Power-over-EtherCAT (POE) technology reduces the number of required wires and power outlets.
The data packet between Arduino Board and EASE is communicated via SPI, allowing EASE to be compatible with many different types of boards including Arduino boards and MBed boards.
Arduino and Mbed developed by Esmacat library allow users to easily develop code between the baseboard and EASE within minutes.
This shield has 8 registers that can be used to send/receive data between devices through the EtherCAT master via Ethernet cables attached to the shield.

More info: https://www.esmacat.com/ease

Suggested Reading: EASE Datasheet.baseboard

Esmacat Master S:

The Esmacat Master S Is a powerful EtherCAT master hardware capable of running all the computing needs for most robotic applications. It comes with a pre-loaded real-time Linux OS (based on Ubuntu 18.04), along with the complete suite of the Esmacat Master software.

The Esmacat Master S has all of the necessary hardware to be used as a desktop PC during the development stage (including Wi-Fi, HDMI, VGA, and USB ports), but is also optimized for mounting within the final robot itself with its low power consumption, fan-less design, aluminum construction, and SSD. This 2-in-1 capability drastically improves the smoothness of transition between development, testing, & debugging, and final deployment.

With the Esmacat Master software loaded as a C++ API, the Esmacat Master S also offers the flexibility of easily running other custom robot algorithms on it without the need for an additional pieces of computing hardware.

1 / 3 • Esmacat Master S

Moreinfo: https://www.esmacat.com/master-s

Esmacat Master C:

The Esmacat Master C is a compact EtherCAT master computer designed to provide the computing needs of robotic applications where size, weight and power consumption are the highest priorities.

It comes pre-loaded with a real-time pre-empted Debian operating system, along with the complete suite of the Esmacat master software. The Esmacat Master C is also optimized for use in your final robot with its low power consumption, and fanless single-board design, but it also has the necessary hardware such as Wi-Fi, HDMI, and multiple USB ports to enable logging in as regular Linux system for debugging and development.

With the Esmacat master software loaded as a C++ API, the Esmacat Master C also offers you the flexibility of easily running other custom robot algorithms on it without the need for an additional pieces of computing hardware.

1 / 2 • Esmacat Master C

Moreinfo:https://www.esmacat.com/master-c

ROS:

ROS Logo

The Robot Operating System (ROS) is a flexible framework for writing robot software. It is a collection of tools, libraries, and conventions that aim to simplify the task of creating complex and robust robot behaviour across a wide variety of robotic platforms.

For this tutorial, ROS versions above Kinetic is recommended.

Follow the steps provided in the official ROS installation wiki to install ROS and configure the workspace before compiling & executing this project.

Note: EsmacatMasterS& EsmacatMasterChave ROS (Melodic desktop-full) preinstalled.

It should be noted that a stable version of ROS1 is currently available only for Linux.

Hardware Connections:

The primary hardware components include,

EtherCAT Master (Esmacat Master S or Esmacat Master C)
EtherCAT slave (EASE with Arduino)
Raspberry Pi (with ROS installed)
Power Over Ethernet (POE Injector)
Ethernet cables
DC Adapter (for POE) and
LCD Shield

Since EASE uses a POE injector, there is no need to power the Arduino board separately. EASE can power the board andany other boards connected through EtherCAT!

The connections are as shown in the image attached in the "Schematics" section of this tutorial. "The Hardware setup schematic" gives an overview of the connections to be made.

Note:

Make sure the Ethernet connections are fit tightly into the sockets. (Loose connections may lead to the slave device not being recognized.)

Required Libraries:

An EASE Library for Arduino to communicate with the Arduino subsystem.

The EASE library is available in the Library Manager in Arduino (Sketch -> Include Library -> Manage Libraries dialog box). Type in EASE_Arduino Code in the search bar and install the library.

The link to the library has been included under the Code section. Download the library and add it to the Arduino IDE (Sketch-> Include Library-> Add.ZIP library and select the file) to get started with the coding part.

Suggested Reading:Getting started with EASE.

Software :

The software required for this tutorial involves coding for

EtherCAT Master (Esmacat Master S and Esmacat Master C) and
the Arduino.

Programming the EtherCATMaster:

If you are an Esmacat customer, use the login credentials provided to clone thelatest version of the Esmacat Master Software for this tutorial.

Coding the Arduino:

Open the Arduino IDE and create a new sketch file. The complete code for this tutorial is available under the Code section named "arduino_with_ease_and_lcd_shield".

Compile and Upload this code into the Arduino board connected with EASE.

Note: Make sure you check whether the Board and Port are chosen correctly in the IDE.

Running the Esmacat Master Code:

When running the Esmacat master code you get a result similar to the following on the terminal showing the ROS nodes communicating with the Esmacat master to update the EASE registers.

EtherCAT Master Execution

Results:

By now you have successfully programmed the Arduino boards and the EtherCAT Master! Custom ROS Topics can be used to publish and subscribe messages to communicate with the Esmacat hardware and ROS. Finally, you should be able to control the turtle sim node as shown in the video below.

Final result of the tutorial

Thank you for following our tutorial! We are excited to see what users can create with EASE! Please let us know if you have any questions.

Code

arduino_with_ease_and_lcd_shield

 /*
  Liquid Crystal & Esmacat Arduino Library - Controling Turtlesim Node
  
  This sketch does the following:
  1) Prints the User input (button pressed) onto the 
     LCD Screen
  2) Sends and receives the encoded value based on the 
     button pressed to the EASE (EtherCAT Arduino Shield by Esmacat) Registers.

  created 10 Aug 2020
  by Harmonic Bionics Inc. (https://www.harmonicbionics.com/).
  
*/

/*
    PIN CONFIGURATION of Keyestudio LCD Shield
    |-----------------------------------------|
    |  LCD PIN Number  |   Arduino PIN Number |
    |-----------------------------------------|
    |       RS         |      Digital Pin 8   |
    |     ENABLE       |      Digital Pin 9   |
    |       D4         |      Digital Pin 4   |
    |       D5         |      Digital Pin 5   |
    |       D6         |      Digital Pin 6   |
    |       D7         |      Digital Pin 7   |
    |     Buttons      |      Analog Pin A0   |
    |-----------------------------------------|
    
 */

/*
  Analog Input Values for the Push Buttons
  |------------------------------------------------|
  |    Push Button     |          A0 value         |
  |------------------------------------------------|
  |       SELECT       |   val >= 500 & val <= 750 |
  |        LEFT        |   val >= 300 & val < 500  |
  |         UP         |   val >= 50  & val < 150  |
  |        DOWN        |   val >= 150 & val < 300  |
  |        RIGHT       |   val >= 0   & val < 50   |
  |------------------------------------------------|
*/

# include <LiquidCrystal.h>      // Include LCD Arduino Library
# include <Esmacatshield.h>      //Include the Esmacat Arduino Library

// Define the Pin numbers as Macros
# define RS_pin 8
# define Enable_pin 9

# define LCD_coloumns 16
# define LCD_rows 2

# define ARDUINO_UNO_SLAVE_SELECT 10      // The chip selector pin for Arduino Uno is 10 

LiquidCrystal lcd_display(RS_pin, Enable_pin, 4, 5, 6, 7);      // Create an object for the Library class
Esmacatshield ease_1(ARDUINO_UNO_SLAVE_SELECT);      // Create a slave object and specify the Chip Selector Pin
                                

int ease_registers[8];      // EASE 8 registers

int analog_value;      // Initialise analog input value variable
int button_pressed;      // Encoded value for the buttons

/*
    -------------------------------------------
    |    Button on LCD     |    Encoded Value  |
    -------------------------------------------
    |         Left         |          1        |
    |          Up          |          2        |
    |         Down         |          3        |
    |         Right        |          4        |
    |        Select        |          5        |
    --------------------------------------------
 */

void setup() {
  
  lcd_display.begin(LCD_coloumns,LCD_rows);      //Initialise the number of (coloumns, rows) in the LCD
  
  lcd_display.print("Turtle Control..");      // Print a message onto the LCD Display

  ease_1.start_spi();      // Start SPI for EASE
  
  Serial.begin(9600);      // Initialise the Serial Communication with the specified Baud Rate
}

void loop() {

  // Code to print the button pressed on the LCD to the Serial Monitor
  analog_value = analogRead(A0);
  
  ease_1.write_reg_value(0,analog_value);      //Write register data (register,value, led_on)
  
  ease_1.get_ecat_registers(ease_registers);
  button_pressed = ease_registers[1];      // Receive the encode the value for register 
  
  if (button_pressed == 1)
  {
    lcd_display.setCursor(0,1);      // set the LCD cursor position (Coloumn number,Row number)
    lcd_display.print("L"); 
  }
  
  if (button_pressed == 2)
  {
    lcd_display.setCursor(0,1);
    lcd_display.print("U"); 
  }

  if (button_pressed == 3)
  {
    lcd_display.setCursor(0,1);
    lcd_display.print("D"); 
  }
  
  if (button_pressed == 4)
  {
    lcd_display.setCursor(0,1);      
    lcd_display.print("R");
  }

  if (button_pressed == 5)
  {
    lcd_display.setCursor(0,1);
    lcd_display.print("S"); 
  }
}

Credits

Esmacat

11 projects • 15 followers

Esmacat is an easy yet powerful EtherCAT solution for robotics. Our EtherCAT tech allow users to run EtherCAT applications in minutes!

Turtlesim Teleop with EtherCAT and Arduino Using ROS