# Overview

Each of the following codes allows a specific directive to be sent to a 2D planar robot:

**[jointControl](#jointControl)**: Drives the robot using joint values.

**[cartControl](#cartControl)**: Drives the robot using cartesian values.

**[testKinematics](#testKinematics)**: Tests each kinematic algorithm and makes sure they are at the expected value.

**[linearControl](#linearControl)**: Drives the robot using cartesian values in a linear trajectory.

**[drawImage](#drawImage)**: Draws an input image.

**[linearControlFurther](#linearControlFurther)**: Improvement of the linear control which checks for the determinant of the Jacobian to be valid.

# Repository Structure
## Find below the list of executables.

### jointControl/

 * @file      jointControl
 * @author    Guillaume Gibert
 * @version   -
 * @date      2025/04/13
 * @brief     Description : This file was provided by G. Gibert. It allows to test different kinds of kinematics.
 * @functions :
        - void initRobot(DynamixelHandler& dxlHandler, std::string portName, float protocol, int baudRate)
        - void closeRobot(DynamixelHandler& dxlHandler)
        - int main()
 * Input:
 * - L1 : Length of the first link (cm)
 * - L2 : Length of the second link (cm)
 * - q1 : Input for first joint value (deg)
 * - q2 : Input for second joint value (deg)
 * - qpen : Input for the pen's joint value (deg) (-90 for drawing mode)
 *
 * Output:
 * - Displacement of the robot using cartesian coordinates.
 ## Ex. : ```./jointControl 5 6 0 0 -90``` 

### cartControl/
 * @file      cartControl
 * @author    Guillaume Gibert, Charles STELANDRE
 * @version   V1
 * @date      2025/04/13
 * @brief     Description : This file is a variant from jointControl, adapting cartesian Coordinates translation.
 * @functions :
 * @      - void initRobot(DynamixelHandler& dxlHandler, std::string portName, float protocol, int baudRate)
          - void closeRobot(DynamixelHandler& dxlHandler)
          - int main(int argc, char** argv)
 * Input:
 * - L1 : Length of the first link (cm)
 * - L2 : Length of the second link (cm)
 * - x : x-component of target position (cm)
 * - y : y-component of target position (cm)
 *
 * Output:
 * - Displacement of the robot using cartesian coordinates.
  ## Ex. : ```./cartControl 5 6 8 3```


### testKinematics/

* @file      testKinematics
* @author    Guillaume Gibert, Charles Stelandre
* @version   -
* @date      2025/04/13
* @brief     Description : This file was provided by G. Gibert. It allows to test different kinds of kinematics.
* @functions :
        - bool testFK(float q1, float q2, float L1, float L2, std::vector<float> expectedEndEffectorPosition, float errorThreshold)
        - bool testIK(float x, float y, float L1, float L2, std::vector<float> expectedJointValues, float errorThreshold)
        - int main()
  ## Ex. : ```./testKinematics```



 ### linearControl/
 * @file      linearControl
 * @author    Guillaume Gibert
 * @version   -
 * @date      2025/04/13
 * @brief     Description : This file was provided by G. Gibert. It allows to use a proportionally controlled system to join two points in a linear trajectory.
 * @functions :
 * @      - void initRobot(DynamixelHandler& dxlHandler, std::string portName, float protocol, int baudRate)
          - void closeRobot(DynamixelHandler& dxlHandler)
          - int main(int argc, char** argv)
* Input:
 * - L1 : Length of the first link (cm)
 * - L2 : Length of the second link (cm)
 * - x : x-component of target position (cm)
 * - y : y-component of target position (cm)
 *
 * Output:
 * - Displacement of the robot using cartesian coordinates.
   ## Ex. : ```./linearControl 5 6 8 3```
   

### drawImage/

 * @file      drawImage
 * @author    Guillaume Gibert
 * @version   -
 * @date      2025/04/13
 * @brief     Description : This file was provided by G. Gibert. It allows to use image processing to draw an image after converting it to correct dimensions.
 * @functions :
 * @      - void initRobot(DynamixelHandler& dxlHandler, std::string portName, float protocol, int baudRate)
        - void closeRobot(DynamixelHandler& dxlHandler)
        - int main(int argc, char** argv)
 * Input:
 * - L1 : Length of the first link (cm)
 * - L2 : Length of the second link (cm)
 * - image : directory of an image to use for image drawing
   ## Ex. : ```./drawImage 5 6 ../resource/twitter2.png ```
   

### linearControlFurther/

 * @file      linearControl
 * @author    Guillaume Gibert, Charles Stelandre
 * @version   -
 * @date      2025/04/13
 * @brief     Description : This file was provided by G. Gibert, and completed by C. Stelandre. It allows to use a proportionally controlled system to join two points in a linear trajectory, while checking for the validity of a target point.
 * @functions :
         - void initRobot(DynamixelHandler& dxlHandler, std::string portName, float protocol, int baudRate)
         - void closeRobot(DynamixelHandler& dxlHandler)
         - int main(int argc, char** argv)
* Input:
 * - L1 : Length of the first link (cm)
 * - L2 : Length of the second link (cm)
 * - x : x-component of target position (cm)
 * - y : y-component of target position (cm)
    ## Ex. : ```./linearControlFurther 5 6 8 3 ```


# README.md

Documentation for the repository.

# Requirements

Hardware: Poppy Ergo Jr.

Software: C++ Programming

Libraries: Ensure required libraries (Dynamixel SDK - DynamixelHandler.h)

# Installation

Clone this repository:

git clone https://gitarero.ecam.fr/charles.stelandre/IntroRoboticsLab1.git

Open a text editor and navigate to the folder containing the .cpp file you want to use.

Install any necessary library.

Upload the code to your robot using a USB connection.

# Usage

Navigate to your installation directory.

Make the file using ``` make ```
Note : Do not forget to create a lib and bin folder !

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.