Difference between revisions of "Holonomic Robotic Platform"
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==Code and Mathematics== | ==Code and Mathematics== | ||
===Code to Facilitate Development=== | ===Code to Facilitate Development=== | ||
| + | To help easy development of specific modules in the Holonomic Robot, a communications interface is implemented between the Robot(Raspberry PI 4 Server) and a Laptop Development workstation(HP Client). The protocol is built on TCP Tx-Rx Exchange between the two devices. The code modules are Python running at both ends. The Robot starts out as a purely slaved device taking commands from the laptop. Motor control modules manipulating the GPIO interface run on the Robot but are commanded by the laptop. As the motor control is refined and routinized along with the growth of intrinsic autonomy, the code is transitioned from the Laptop to the Robot. Code is primarily developed in Python 3.7. | ||
| + | ====Robot to Laptop Base Communication Code==== | ||
| + | <source lang="Python"> | ||
| + | # utf-8 | ||
| + | import system | ||
| + | import socket | ||
| + | </source> | ||
Revision as of 15:41, 1 January 2020
Engineering Project Data
Mechanical
Drive Motors with Gearboxes
Hardware Case for Raspberry PI 4
Electronic/Electrical
Raspberry PI4 4 Gig Ram
Raspberry PI Full Function Servo Motor HAT Controller
HDMI Video Adapter Cable
Micro SD 64 Gig Memory Card for PI Operating System, and Hard Drive
Software
Raspbian Operating System
Balena Flash Prom Programmer
Windows Python for Laptop Host Development
Code and Mathematics
Code to Facilitate Development
To help easy development of specific modules in the Holonomic Robot, a communications interface is implemented between the Robot(Raspberry PI 4 Server) and a Laptop Development workstation(HP Client). The protocol is built on TCP Tx-Rx Exchange between the two devices. The code modules are Python running at both ends. The Robot starts out as a purely slaved device taking commands from the laptop. Motor control modules manipulating the GPIO interface run on the Robot but are commanded by the laptop. As the motor control is refined and routinized along with the growth of intrinsic autonomy, the code is transitioned from the Laptop to the Robot. Code is primarily developed in Python 3.7.
Robot to Laptop Base Communication Code
# utf-8
import system
import socket