DC motor +Raspberry pi3+ROS

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The simplest way I can think of: Hardware: RPi3 -> Arduino -> Speed Controller -> Motor Software: - In RPi3: rosserial - In Arduino: rosserial, servo_lib

It will depend on the DC motors. Are they brushed or brushless motors? What voltage is required? What amperage is required?

One option is to use an I2C PWM hat or shield and an electronic speed control (ESC) for each motor. This also allows up to 16 motors (more by combining shields).

The PWM + ESC allows for a wide range of voltages and amperages, depending on the ESC. Some common ESCs are 4.8-11V and 9-16v. There are some for even higher. ESCs are also rated by current units available for very high current such as 120A or more.

Here is documentation for an I2C PWM package for ROS: http://bradanlane.gitlab.io/ros-i2cpw...

If the motor has <400 mA max current draw and you are ok with it turning one direction, you can use the Pi pin to directly drive the base pin of a 2222 NPN transistor to drive a motor. PWM via RPIO may even work in modulating the speed. It's a simple alternative to getting a motor driver.

Let me know if you have questions, happy to expand on details.

Cheers Jack

You will need a motor driver (like the DRV8835) and the corresponding driver library This gives you a python application that talks to the motors. Now add a bit of ROS and you have moving robot.