Code Documentation and Tests
Table of Contents
Single movement mode:
sudo ./ik rx ry rz p0 p1 p2
- rx = x offset (use 0)
- ry = y offset (use 0)
- rz = z offset (use 0)
- p0 = x position (use 0)
- p1 = y position (use 0)
- p2 = z position (use .38)
Moves the legs to the specified position (p0, p1, p2). These arguments represent where the foot should be moved to where (0, 0, 0) is the hip (and a physically impossible position), and (0, 0, .38) is fully extended straight down.
Path generation mode:
sudo ./ik vel SL SW start_flag step
- vel = velocity of movement (use 0.08)
- SL = step length (use 1.15)
- SW = step width (use .1)
- start_flag = whether the path is starting or resuming (use 1)
- step = how often to send commands to the servos, in seconds (use .4)
Generates a path for a walking gait, and then feeds the generated path data to the servos at the specified step interval, causing the robot to walk forwards.
Prints current sensor data back to the terminal, sensor data is raw. Capable of detecting if the robot has fallen over. If the robot has fallen over, a message will print to the terminal informing it has fallen over.
Runs a server which listens for TCP connections on port 13201. When a connection is established, the server feeds characterized sensor data to the client via TCP packets in XML form which can then parse and display it.
Moves servos connected on pins 1 and 2 (head servos) through a set routine. Just a servo test program to ensure they are working.
Press connect to connect to the Tigerbot's sensors via TCP and get realtime streaming data. Press move to move the head servos.