I am keen to get the internal DC motor drivers working for a rover (ground vehicle, 2 motors skid steering). Using an external driver is not an option (the vehicle is very small). Anyone have any ideas what is the best way of doing this?
Currently I see 2 options:
1) Mess with Ardurover code (HAL, etc)
advantage: integration, it would work with Ardurover only
disadvantage: I don't fully understand yet how it could be done without doing some major changes to Ardurover source
2) connect an on board motor controller
I have python code that drives the DC motors at specific speed (using encoder feedback). I could connect to Ardurover via mavlink (e.g.: rcpy) and control motors to respond to heading...
Advantage: speed-control, python Could build more companion computer function on-board e.g.: ROS
Disadvantage: it is kind of backwards from the way companion computer is supposed to work.