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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:
**[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
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Documentation for the repository.
# .DS_Store
System file (can be ignored or removed from the repository).
# 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
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.
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# 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.