IntroRoboticsLab1/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

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.

cartControl/

• @file cartControl.cpp
• @author 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.

testKinematics/

• @file testKinematics.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 : - 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()

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.

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

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)

README.md

Documentation for the repository.

Requirements

Hardware: Ergo Poppy 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 libraries via Arduino Library Manager.

Upload the code to your mBot 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.