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IntroRoboticsLab1
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Updated the README.md to be accurate and more detailed.

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Charles STELANDRE 2025-04-13 17:15:21 +02:00
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Each of the following codes allows a specific directive to be sent to a 2D planar robot: Each of the following codes allows a specific directive to be sent to a 2D planar robot:
**[jointControl](#jointControl)**: Drives the mBot robot to a target location (x, y, theta) using gyroscopic data for precise navigation and orientation tracking. **[jointControl](#jointControl)**: Drives the robot using joint values.
**[cartControl](#cartControl)**: Drives the mBot robot to a target location (x, y, theta) using gyroscopic data for precise navigation and orientation tracking. **[cartControl](#cartControl)**: Drives the robot using cartesian values.
**[testKinematics](#testKinematics)**: Retrieves and prints real-time X, Y, and Z angles from the gyro sensor, enabling orientation monitoring. **[testKinematics](#testKinematics)**: Tests each kinematic algorithm and makes sure they are at the expected value.
**[linearControl](#linearControl)**: Implements basic movement patterns such as moving forward, backward, and turning left or right for foundational motion control. **[linearControl](#linearControl)**: Drives the robot using cartesian values in a linear trajectory.
**[drawImage](#drawImage)**: Simulates Roomba-like behavior by integrating ultrasonic sensors for obstacle detection and avoidance during autonomous navigation. **[drawImage](#drawImage)**: Draws an input image.
**[linearControlFurther](#linearControlFurther)**: Implements line-following behavior using a line-finder module to detect and respond to black lines on the ground for path tracking. **[linearControlFurther](#linearControlFurther)**: Improvement of the linear control which checks for the determinant of the Jacobian to be valid.
# Repository Structure # Repository Structure
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Documentation for the repository. Documentation for the repository.
# .DS_Store
System file (can be ignored or removed from the repository).
# Requirements # Requirements
Hardware: mBot robot kit Hardware: Ergo Poppy Jr.
Software: Arduino IDE Software: C++ Programming
Libraries: Ensure required libraries (e.g., MeMCore.h) are installed in Arduino IDE. Libraries: Ensure required libraries (Dynamixel SDK - DynamixelHandler.h)
# Installation # Installation
Clone this repository: Clone this repository:
git clone https://gitarero.ecam.fr/charles.stelandre/IntroRoboticsLab2.git git clone https://gitarero.ecam.fr/charles.stelandre/IntroRoboticsLab1.git
Open Arduino IDE and navigate to the folder containing the .ino file you want to use. Open a text editor and navigate to the folder containing the .cpp file you want to use.
Install any necessary libraries via Arduino Library Manager. Install any necessary libraries via Arduino Library Manager.
@ -143,8 +139,12 @@ Upload the code to your mBot using a USB connection.
# Usage # Usage
Navigate to the folder corresponding to the desired functionality (e.g., gyro/). Navigate to your installation directory.
Open the .ino file in Arduino IDE. Make the file using ``` make ```
Navigate to the bin folder.
Execute the desired file in the command line/
Follow any instructions provided in the comments within the code to execute experiments. Follow any instructions provided in the comments within the code to execute experiments.