You can also get the complete installation doc here The assembly of the encoders is described in the doc installation-method-fit0029.pdf. This is useful to control the direction and to implement a PID processus. I use the Baron four-wheel-drive robot from DFRobot with 2 encoder sensors in order to retrieve the speed of the two front motors right and left. Note that initially I have used the chipKIT™ Uno32™ but I have reached the limit of the flash program memory (128K) when I have added the TCP and WIFI libs, so I have migrated to the chipKIT™ Max32™ that allows 512K of flash program memory.
In addition, the Uno32 is fully compatible with the advanced Microchip MPLAB® IDE and the PICKit3 in-system programmer/debugger. The Max32 can be programmed using an environment based on the original Arduino™ IDE modified to support PIC32.
#PIC32 SERIAL LIBRARY ARDUINO MAC#
In addition, the processor provides a USB 2 OTG controller, 10/100 Ethernet MAC and dual CAN controllers that can be accessed via add-on I/O shields. This microcontroller features a 32-bit MIPS processor core running at 80 MHz, 512K of flash program memory and 128K of SRAM data memory. The Max32 board takes advantage of the powerful PIC32MX795F512 microcontroller. It features a USB serial port interface for connection to the IDE and can be powered via USB or an external power supply.
The Max32 is the same form factor as the Arduino™ Uno board and is compatible with many Arduino™ shields. The chipKIT™ Max32™ is based on the popular Arduino™ open source hardware prototyping platform but adds the performance of the Microchip PIC32 microcontroller. My Robot is based on the DFRobot 4WD Arduino-Compatible and it is controlled by the chipKIT Max32.