151 lines
5.1 KiB
Markdown
151 lines
5.1 KiB
Markdown
# Overview
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Each of the following codes allows a specific directive to be sent to a 2D planar robot:
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**[jointControl](#jointControl)**: Drives the robot using joint values.
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**[cartControl](#cartControl)**: Drives the robot using cartesian values.
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**[testKinematics](#testKinematics)**: Tests each kinematic algorithm and makes sure they are at the expected value.
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**[linearControl](#linearControl)**: Drives the robot using cartesian values in a linear trajectory.
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**[drawImage](#drawImage)**: Draws an input image.
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**[linearControlFurther](#linearControlFurther)**: Improvement of the linear control which checks for the determinant of the Jacobian to be valid.
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# Repository Structure
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### jointControl/
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* @file jointControl.cpp
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* @author Guillaume Gibert
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* @version -
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* @date 2025/04/13
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* @brief Description : This file was provided by G. Gibert. It allows to test different kinds of kinematics.
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* @functions :
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- void initRobot(DynamixelHandler& dxlHandler, std::string portName, float protocol, int baudRate)
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- void closeRobot(DynamixelHandler& dxlHandler)
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- int main()
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### cartControl/
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* @file cartControl.cpp
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* @author Charles STELANDRE
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* @version V1
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* @date 2025/04/13
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* @brief Description : This file is a variant from jointControl, adapting cartesian Coordinates translation.
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* @functions :
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* @ - void initRobot(DynamixelHandler& dxlHandler, std::string portName, float protocol, int baudRate)
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- void closeRobot(DynamixelHandler& dxlHandler)
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- int main(int argc, char** argv)
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* Input:
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* - L1 : Length of the first link (cm)
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* - L2 : Length of the second link (cm)
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* - x : x-component of target position (cm)
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* - y : y-component of target position (cm)
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*
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* Output:
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* - Displacement of the robot using cartesian coordinates.
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### testKinematics/
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* @file testKinematics.cpp
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* @author Guillaume Gibert
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* @version -
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* @date 2025/04/13
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* @brief Description : This file was provided by G. Gibert. It allows to test different kinds of kinematics.
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* @functions :
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- bool testFK(float q1, float q2, float L1, float L2, std::vector<float> expectedEndEffectorPosition, float errorThreshold)
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- bool testIK(float x, float y, float L1, float L2, std::vector<float> expectedJointValues, float errorThreshold)
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- int main()
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### linearControl/
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* @file linearControl.cpp
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* @author Guillaume Gibert
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* @version -
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* @date 2025/04/13
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* @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.
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* @functions :
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* @ - void initRobot(DynamixelHandler& dxlHandler, std::string portName, float protocol, int baudRate)
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- void closeRobot(DynamixelHandler& dxlHandler)
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- int main(int argc, char** argv)
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* Input:
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* - L1 : Length of the first link (cm)
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* - L2 : Length of the second link (cm)
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* - x : x-component of target position (cm)
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* - y : y-component of target position (cm)
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*
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* Output:
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* - Displacement of the robot using cartesian coordinates.
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### drawImage/
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* @file drawImage.cpp
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* @author Guillaume Gibert
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* @version -
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* @date 2025/04/13
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* @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.
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* @functions :
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* @ - void initRobot(DynamixelHandler& dxlHandler, std::string portName, float protocol, int baudRate)
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- void closeRobot(DynamixelHandler& dxlHandler)
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- int main(int argc, char** argv)
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* Input:
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* - L1 : Length of the first link (cm)
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* - L2 : Length of the second link (cm)
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* - image : directory of an image to use for image drawing
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### linearControlFurther/
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* @file linearControl.cpp
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* @author Guillaume Gibert
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* @version -
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* @date 2025/04/13
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* @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.
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* @functions :
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* - void initRobot(DynamixelHandler& dxlHandler, std::string portName, float protocol, int baudRate)
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- void closeRobot(DynamixelHandler& dxlHandler)
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- int main(int argc, char** argv)
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* Input:
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* - L1 : Length of the first link (cm)
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* - L2 : Length of the second link (cm)
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* - x : x-component of target position (cm)
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* - y : y-component of target position (cm)
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# README.md
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Documentation for the repository.
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# Requirements
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Hardware: Ergo Poppy Jr.
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Software: C++ Programming
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Libraries: Ensure required libraries (Dynamixel SDK - DynamixelHandler.h)
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# Installation
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Clone this repository:
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git clone https://gitarero.ecam.fr/charles.stelandre/IntroRoboticsLab1.git
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Open a text editor and navigate to the folder containing the .cpp file you want to use.
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Install any necessary libraries via Arduino Library Manager.
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Upload the code to your mBot using a USB connection.
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# Usage
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Navigate to your installation directory.
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Make the file using ``` make ```
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Navigate to the bin folder.
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Execute the desired file in the command line/
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Follow any instructions provided in the comments within the code to execute experiments.
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