diff --git a/3Dprinting/gitkeep b/3Dprinting/gitkeep new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/README.md b/README.md index 7e11121970ee187c11101b93cd9308b1997cf954..6a270797f8897e3fe63d5615b2aba34e1733706b 100644 --- a/README.md +++ b/README.md @@ -1,92 +1,64 @@ -# documentation +# Omnibot documentation + +## Code +For information on code packages for the omnibots, see +* [omnibotserver.py](https://gitlab.control.lth.se/processes/omnibot/omnibotserver.py) - Python server for the omnibots +* [omnibot.py](https://gitlab.control.lth.se/processes/omnibot/omnibot.py) - A python package to set up a client application for the omnibots +* [omnibot.jl](https://gitlab.control.lth.se/processes/omnibot/omnibot.jl) - A julia package to set up a client application for the omnibots +## Description -## Getting started - -To make it easy for you to get started with GitLab, here's a list of recommended next steps. - -Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)! - -## Add your files - -- [ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files -- [ ] [Add files using the command line](https://docs.gitlab.com/ee/gitlab-basics/add-file.html#add-a-file-using-the-command-line) or push an existing Git repository with the following command: - -``` -cd existing_repo -git remote add origin https://gitlab.control.lth.se/processes/omnibot/documentation.git -git branch -M main -git push -uf origin main -``` - -## Integrate with your tools - -- [ ] [Set up project integrations](https://gitlab.control.lth.se/processes/omnibot/documentation/-/settings/integrations) - -## Collaborate with your team - -- [ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/) -- [ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html) -- [ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically) -- [ ] [Enable merge request approvals](https://docs.gitlab.com/ee/user/project/merge_requests/approvals/) -- [ ] [Automatically merge when pipeline succeeds](https://docs.gitlab.com/ee/user/project/merge_requests/merge_when_pipeline_succeeds.html) - -## Test and Deploy - -Use the built-in continuous integration in GitLab. +### Repository contents +* [3Dprinting](3Dprinting) contains information on how to print further omnibots. +* [projects](projects) contains documentation from projects done with the robots. +* [this README](README.md) contains information on the components and installation. -- [ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/index.html) -- [ ] [Analyze your code for known vulnerabilities with Static Application Security Testing(SAST)](https://docs.gitlab.com/ee/user/application_security/sast/) -- [ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html) -- [ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/) -- [ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html) +### Dynamics + +(Image credit to [the Max4 project](/projects/MAX4/MAX4_project_report.pdf).) -*** +The setpoint for rotational speed for the wheels of the robots can be set. Thus there is a relation between the rotation of the wheels and the movement of the robot, given by +. -# Editing this README +## Installation -When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thank you to [makeareadme.com](https://www.makeareadme.com/) for this template. +### 3D-printing +TODO -## Suggestions for a good README -Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information. +### Assembly +TODO -## Name -Choose a self-explaining name for your project. +### Crazyflies and Lighthouses +The omnibots use crazyflies (version >= 2.0) to supply positioning. This is done via a [lighthouse deck](https://www.bitcraze.io/products/lighthouse-positioning-deck/) mounted on the crazyflie, along with two HTC vive beacons. + -## Description -Let people know what your project can do specifically. Provide context and add a link to any reference visitors might be unfamiliar with. A list of Features or a Background subsection can also be added here. If there are alternatives to your project, this is a good place to list differentiating factors. +All configuration of the crazyflies and beacons is easiest to do via the [crazyflie client](https://www.bitcraze.io/documentation/repository/crazyflie-clients-python/ +master/userguides/userguide_client), which can easily be installed and launched: +``` +pip install cfclient +cfclient +``` +You will also need a crazyradio, which requires [USB permissions](https://www.bitcraze.io/documentation/repository/crazyflie-lib-python/master/installation/usb_permissions/). -## Badges -On some READMEs, you may see small images that convey metadata, such as whether or not all the tests are passing for the project. You can use Shields to add some to your README. Many services also have instructions for adding a badge. +You can read about configuring the crazyflie and the lighhouse systems on the [bitcraze website](https://www.bitcraze.io/documentation/tutorials/getting-started-with-lighthouse/). You should go through all the following steps, which are listed there: +* Prepare and configure the base stations. +* Update the crazyflie firmware. +* Calibrate the crazifly to the base stations. -## Visuals -Depending on what you are making, it can be a good idea to include screenshots or even a video (you'll frequently see GIFs rather than actual videos). Tools like ttygif can help, but check out Asciinema for a more sophisticated method. +### Servos +The servos are easiest to configure via the [dynamixel wizard](https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/). -## Installation -Within a particular ecosystem, there may be a common way of installing things, such as using Yarn, NuGet, or Homebrew. However, consider the possibility that whoever is reading your README is a novice and would like more guidance. Listing specific steps helps remove ambiguity and gets people to using your project as quickly as possible. If it only runs in a specific context like a particular programming language version or operating system or has dependencies that have to be installed manually, also add a Requirements subsection. +### Power Supply +The omnibots run on batteries which should in theory last several hours. Once out, they can be recharged via a charging station. + -## Usage -Use examples liberally, and show the expected output if you can. It's helpful to have inline the smallest example of usage that you can demonstrate, while providing links to more sophisticated examples if they are too long to reasonably include in the README. +### Configuring a TCP Server +See [omnibotserver.py](https://gitlab.control.lth.se/processes/omnibot/omnibotserver.py) ## Support -Tell people where they can go to for help. It can be any combination of an issue tracker, a chat room, an email address, etc. - -## Roadmap -If you have ideas for releases in the future, it is a good idea to list them in the README. +Code - <felix.agner@control.lth.se> +Assembly - <alexander.pisarevskiy@control.lth.se> ## Contributing -State if you are open to contributions and what your requirements are for accepting them. - -For people who want to make changes to your project, it's helpful to have some documentation on how to get started. Perhaps there is a script that they should run or some environment variables that they need to set. Make these steps explicit. These instructions could also be useful to your future self. - -You can also document commands to lint the code or run tests. These steps help to ensure high code quality and reduce the likelihood that the changes inadvertently break something. Having instructions for running tests is especially helpful if it requires external setup, such as starting a Selenium server for testing in a browser. - -## Authors and acknowledgment -Show your appreciation to those who have contributed to the project. - -## License -For open source projects, say how it is licensed. - -## Project status -If you have run out of energy or time for your project, put a note at the top of the README saying that development has slowed down or stopped completely. Someone may choose to fork your project or volunteer to step in as a maintainer or owner, allowing your project to keep going. You can also make an explicit request for maintainers. +Please update the documentation here when new packages and updates to the robots happen diff --git a/img/beacon.jpg b/img/beacon.jpg new file mode 100644 index 0000000000000000000000000000000000000000..da0d5e370b92f569934b7aa2741c6441497a03d2 Binary files /dev/null and b/img/beacon.jpg differ diff --git a/img/bot.jpg b/img/bot.jpg new file mode 100644 index 0000000000000000000000000000000000000000..8b054f3f59ceaacc1f753c079ef76685a56ab22a Binary files /dev/null and b/img/bot.jpg differ diff --git a/img/charger.jpg b/img/charger.jpg new file mode 100644 index 0000000000000000000000000000000000000000..53c912e8a85b6b5777aef79b3889472e81cb0c36 Binary files /dev/null and b/img/charger.jpg differ diff --git a/img/dynamics.png b/img/dynamics.png new file mode 100644 index 0000000000000000000000000000000000000000..1e90a3133aa0a56858e825091001efa46e0775fa Binary files /dev/null and b/img/dynamics.png differ diff --git a/img/dynamics_equation.png b/img/dynamics_equation.png new file mode 100644 index 0000000000000000000000000000000000000000..d9a6f0b39ac5cebfeeb85a1343ae773c733828fd Binary files /dev/null and b/img/dynamics_equation.png differ diff --git a/projects/2021_realtime/omnibot_project_2021.pdf b/projects/2021_realtime/omnibot_project_2021.pdf new file mode 100644 index 0000000000000000000000000000000000000000..121a00b96743407abd9d5e15deee42da9d581f28 Binary files /dev/null and b/projects/2021_realtime/omnibot_project_2021.pdf differ diff --git a/projects/MAX4/MAX4_project_report.pdf b/projects/MAX4/MAX4_project_report.pdf new file mode 100644 index 0000000000000000000000000000000000000000..6785eef1470515640d96c999ac103034c5085206 Binary files /dev/null and b/projects/MAX4/MAX4_project_report.pdf differ