README

Project Overview

Packages used for Low-level control of electronics used for a variety of robotic applications, as well as algorithms for data fusion and controls. Currently, Rapsberry Pi 3 is the platform used to interface with everything.

Version Summary

Version 1.0.0

Language: C++

Dependencies:

• pigpiod
• Boost
• Armadillo
• OpenCV

Developer Notes

CMakelists to make

 - Sensors
      - CameraStreamer

Build-able Drivers

 - Utilities

Drivers to Re-package

 - Communications
      - UDP
      - Serial
 - Sensors
      - Encoder
      - CameraStreamer
 - Devices
      - RazorIMU
      - RoboClaw
 - Filters
      - EKF
 - Controls
      - PID
 - Profiles
      - 4WD

Drivers to Verify Proper Functionality

 - Actuators
      - DC Motor
      - Servo
 - Communications
      - UDP
      - Serial
 - Sensors
      - Encoder
      - IMU (MPU-9250)
      - CameraStreamer
 - Devices
      - RazorIMU
      - RoboClaw
 - Filters
      - EKF
 - Controls
      - PID
 - Profiles
      - 4WD

Drivers to create

 - Devices
      - MappyDot (LiDAR)
      - PWM Driver Board (PCA-9685)

 - Controls
      - LiDAR-based Row following
      - GPS waypoint-follower (pure pursuit)

 - Filters
      - RANSAC Line Smoother

Developer Instructions

Currently the drivers are built specifically to target the Raspberry Pi 3

Install Dependencies

To Be Continued...

Building dependencies from source

Configure and Build

To Be Continued...

Installation

To Be Continued...

Running

To Be Continued...

Testing

There are currently no testing procedures or programs defined or developed for this project.

TODOs (Double Check if still valid)

 -

 - combine SerialDev class with the functionality of the pigpiod serial functions used in RoboClaw class
 - convert DC_motor class to modular class setup using class inheritance (model code structure similar to Motors class)

Maintainer

Hunter Young ([email protected])