Charles STELANDRE
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README.md
Overview
Each of the following codes allows a specific directive to be sent to a 2D planar robot:
jointControl: Drives the robot using joint values.
cartControl: Drives the robot using cartesian values.
testKinematics: Tests each kinematic algorithm and makes sure they are at the expected value.
linearControl: Drives the robot using cartesian values in a linear trajectory.
drawImage: Draws an input image.
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.cpp
- @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.cpp
- @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.cpp
- @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 expectedEndEffectorPosition, float errorThreshold)
- bool testIK(float x, float y, float L1, float L2, std::vector expectedJointValues, float errorThreshold)
- int main()
Ex. : ```./testKinematics
linearControl/
- @file linearControl.cpp
- @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.cpp
- @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.cpp
- @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)
Ex. : ```./linearControl 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
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.