Holonomic Robotic Platform

Engineering Project Data

Software

Balena Flash Prom Programmer

Interface Window

Windows Python for Laptop Host Development

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Spyder Development Environment

Spyder IDE

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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.

Laptop Code for Robot/Laptop Base Communication

import socket
message_from_server = ''
client = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
client.connect(('192.168.1.43', 13000))
while True:
    message = ''
    message = input('Input lowercase sentence:')
    client.send(message.encode())
    message_from_server = (client.recv(4096)).decode()
    print (message_from_server)
    if message == "Stop the Server" : break 
client.close()
print ("You ended the session")

Robot Code for Robot/Laptop Base Communication

import socket serv = socket.socket(socket.AF_INET, socket.SOCK_STREAM) serv.bind(('192.168.1.43',13000)) serv.listen(5) while True:

   conn, addr = serv.accept()
   message_from_client = 
   while True:
       data = conn.recv(4096)
       if not data: break
       message_from_client = data.decode()
       print ("Tx:" + message_from_client)      
       message = "RxAck:" + message_from_client
       conn.send(message.encode())
   conn.close()
   if message_from_client == "Stop the Server" : break

print ('Communication protocols termintated at Server by Client')