diff --git a/code/requirements.txt b/code/requirements.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2c11c33284bbded00c5c153b9e6f62ece604eaa1
--- /dev/null
+++ b/code/requirements.txt
@@ -0,0 +1,23 @@
+Package Version
+---------------------- ---------
+cflib 0.1.17.1
+dynamixel-sdk 3.7.31
+libusb-package 1.0.24.2
+numpy 1.22.1
+opencv-python-headless 4.5.5.62
+packaging 21.3
+pandas 1.4.0
+pip 20.3.4
+pkg-resources 0.0.0
+pyparsing 3.0.7
+PyQt5-sip 12.9.0
+pyserial 3.5
+python-dateutil 2.8.2
+python-dynamixel -UNKNOWN-
+pytz 2021.3
+pyusb 1.2.1
+QtPy 2.0.0
+scipy 1.7.3
+setuptools 44.1.1
+six 1.16.0
+
diff --git a/code/run-trajectory b/code/run-trajectory
new file mode 100644
index 0000000000000000000000000000000000000000..670073e165c47a4f1cdf9e9e560dcf6fc5b7fe0d
--- /dev/null
+++ b/code/run-trajectory
@@ -0,0 +1,23 @@
+#!/bin/bash
+
+USERNAME=pi
+HOST=130.235.83.216
+echo "ssh-password for $USERNAME@$HOST"
+read PASSWORD
+
+echo 'name of trajectory-file?'
+read FILENAME
+
+FILELOCATION="~/PlanningLab"
+echo "Copying $FILENAME to $USERNAME@$HOST:$FILELOCATION"
+sshpass -p $PASSWORD scp $FILENAME "$USERNAME@$HOST:$FILELOCATION"
+
+echo "Executing trajectory"
+COMMAND="cd $FILELOCATION ; source planning_env/bin/activate ; python track_path.py $FILENAME ; rm $FILENAME ; exit"
+sshpass -p $PASSWORD ssh -o StrictHostKeyChecking=no $USERNAME@$HOST "$COMMAND"
+
+#scp "-i $PASSWORD" $FILENAME "$USERNAME@$HOST:$FILELOCATION"
+#"$PASSWORD"
+#SCRIPT="pwd; cd PlanningLab ; source planning-env/bin/activate ; python track_path.py $FILENAME"
+#scp -l $FILENAME $USERNAME $HOST
+#ssh -o StrictHostKeyChecking=no -l username hostname "pwd; ls"
diff --git a/code/track_path.py b/code/track_path.py
new file mode 100644
index 0000000000000000000000000000000000000000..3524404be0effeed27fc9ea90773e01241ec283d
--- /dev/null
+++ b/code/track_path.py
@@ -0,0 +1,306 @@
+import numpy as np
+import pandas as pd
+import sys
+
+# Dynamixel packages
+from dynamixel.model.xm430_w210_t_r import XM430_W210_T_R
+import dynamixel.channel
+import time
+
+#Crazy packages
+import logging
+from threading import Timer
+
+import cflib.crtp # noqa
+from cflib.crazyflie import Crazyflie
+from cflib.crazyflie.log import LogConfig
+from cflib.utils import uri_helper
+
+logging.basicConfig(level=logging.ERROR)
+
+
+########################################################################
+# SUPPORTING CLASSES AND FUNCTIONS
+########################################################################
+
+def load_servos():
+"""
+Servo load function, based on the dynamixel implementation of Anders Blomdell.
+"""
+
+# The speed and channel numbers can be found and checked via the dynamixel software "dynamixel wizard".
+# The device can be found by e.g. lsusb, and is currently adapted for the three-color robots.
+
+ channel = dynamixel.channel.Channel(speed=57600,device='/dev/ttyACM0')
+ servos = [ XM430_W210_T_R(channel, 1),
+ XM430_W210_T_R(channel, 2),
+ XM430_W210_T_R(channel, 3) ]
+ for s in servos:
+ s.torque_enable.write(0)
+ print(s.model_number.read(), s.id.read())
+ s.operating_mode.write(1)
+ s.bus_watchdog.write(0) # Clear old watchdog error
+ s.bus_watchdog.write(100) # 2 second timeout
+ s.torque_enable.write(1)
+
+ return servos
+
+class SimplePI:
+ """
+ Simple PI implementation with basic anti-windup. The _saturation - variable sets the saturation of the anti-windup.
+ """
+
+ _saturation = 0.1
+
+ def __init__(self,kp,ki,dt):
+ """ Initialize the controller """
+
+ self.e = np.zeros(3)
+ self.dt = dt # Sample rate
+ self.kp = kp # P-part gain
+ self.ki = ki # I-part gain
+
+ def update_control(self,e):
+ self.e += e*self.dt # Update cumulative error
+
+ # Saturate internal error for anti-windup
+ self.e = np.sign(self.e)*np.array([min(ei,self._saturation) for ei in abs(self.e)])
+
+ # Return control signal
+ return self.kp*e + self.ki*self.e
+
+
+class CrazyLogger:
+
+ """
+ Simple logging class that logs the Crazyflie Stabilizer from a supplied
+ link uri and disconnects after 150s.
+ """
+ # Define which states to log:
+ namelink = {'stateEstimate.x': 0, 'stateEstimate.y': 1,'stateEstimate.z': 2, 'stabilizer.yaw':3}
+ #_Offset for crazyflie position on robot to center
+ position_offset = 0.11
+
+ def __init__(self, link_uri):
+ """ Initialize and run the example with the specified link_uri """
+
+ self._cf = Crazyflie(rw_cache='./cache')
+ self._state = np.array([0.0,0.0,0.0,0.0])
+
+ # Connect some callbacks from the Crazyflie API
+ self._cf.connected.add_callback(self._connected)
+ self._cf.disconnected.add_callback(self._disconnected)
+ self._cf.connection_failed.add_callback(self._connection_failed)
+ self._cf.connection_lost.add_callback(self._connection_lost)
+
+ print('Connecting to %s' % link_uri)
+
+ # Try to connect to the Crazyflie
+ self._cf.open_link(link_uri)
+
+ # Variable used to keep main loop occupied until disconnect
+ self.is_connected = True
+
+ def _connected(self, link_uri):
+ """ This callback is called form the Crazyflie API when a Crazyflie
+ has been connected and the TOCs have been downloaded."""
+ print('Connected to %s' % link_uri)
+
+ # The definition of the logconfig can be made before connecting
+ self._lg_stab = LogConfig(name='Stabilizer', period_in_ms=100)
+ self._lg_stab.add_variable('stateEstimate.x', 'float')
+ self._lg_stab.add_variable('stateEstimate.y', 'float')
+ self._lg_stab.add_variable('stateEstimate.z', 'float')
+ self._lg_stab.add_variable('stabilizer.yaw', 'float')
+
+ # The fetch-as argument can be set to FP16 to save space in the log packet
+ #self._lg_stab.add_variable('pm.vbat', 'FP16')
+
+ # Adding the configuration cannot be done until a Crazyflie is
+ # connected, since we need to check that the variables we
+ # would like to log are in the TOC.
+ try:
+ self._cf.log.add_config(self._lg_stab)
+ # This callback will receive the data
+ self._lg_stab.data_received_cb.add_callback(self._stab_log_data)
+ # This callback will be called on errors
+ self._lg_stab.error_cb.add_callback(self._stab_log_error)
+ # Start the logging
+ self._lg_stab.start()
+ except KeyError as e:
+ print('Could not start log configuration,'
+ '{} not found in TOC'.format(str(e)))
+ except AttributeError:
+ print('Could not add Stabilizer log config, bad configuration.')
+
+ # Start a timer to disconnect in 150s
+ t = Timer(150, self._cf.close_link)
+ t.start()
+
+ def _stab_log_error(self, logconf, msg):
+ """Callback from the log API when an error occurs"""
+ print('Error when logging %s: %s' % (logconf.name, msg))
+
+ def _stab_log_data(self, timestamp, data, logconf):
+ """Callback from a the log API when data arrives"""
+ #print(f'[{timestamp}][{logconf.name}]: ', end='')
+ for name, value in data.items():
+ self._state[self._namelink[name]] = value
+ #print(f'{name}: {value:3.3f} ', end='\n')
+ #print()
+
+ def _connection_failed(self, link_uri, msg):
+ """Callback when connection initial connection fails (i.e no Crazyflie
+ at the specified address)"""
+ print('Connection to %s failed: %s' % (link_uri, msg))
+ self.is_connected = False
+
+ def _connection_lost(self, link_uri, msg):
+ """Callback when disconnected after a connection has been made (i.e
+ Crazyflie moves out of range)"""
+ print('Connection to %s lost: %s' % (link_uri, msg))
+
+ def _disconnected(self, link_uri):
+ """Callback when the Crazyflie is disconnected (called in all cases)"""
+ print('Disconnected from %s' % link_uri)
+ self.is_connected = False
+
+ def x(self):
+ """ Return x-position of robot center"""
+ # Note that the offset of the crazyflie mount position is included
+ return self._state[0] - np.sin(self._state[3])*self._position_offset
+
+ def y(self):
+ """ Return y-position of robot center"""
+ # Note that the offset of the crazyflie mount position is included
+ return self._state[1] + np.cos(self._state[3])*self._position_offset
+
+ def z(self):
+ """ Return z-position of robot center"""
+ return self._state[2]
+
+ def theta(self):
+ """ Return direction of robot center, measured in radians between -pi and pi."""
+ # Note that the offset of the crazyflie mount position is included
+ return np.mod(self._state[3]*np.pi/180 + 11*np.pi/6,2*np.pi)-np.pi
+
+ def states(self):
+ return self._state
+
+ def close(self):
+ self._cf.close_link()
+
+########################################################################
+# MAIN SCRIPT
+########################################################################
+if __name__ == '__main__':
+
+ # Read input trajectory filename
+ if len(sys.argv) > 1:
+ print("Input file name:",sys.argv[1])
+ filename = sys.argv[1]
+ else:
+ print("No file name inupt. Using default file name: trajectory.csv")
+ filename = "trajectory.csv"
+
+ # Load trajectory
+ print("Attempting to load trajectory file",filename)
+ trajectory = pd.read_csv(filename)
+ print("\nTrajectory loaded.")
+ x = trajectory.x.to_numpy()
+ y = trajectory.y.to_numpy()
+ # Update theta to be in correct range (-pi,pi)
+ theta = ((trajectory.theta + np.pi).mod(2*np.pi)-np.pi).to_numpy() # Put theta in range -pi -> pi instead of 0 -> 2pi
+
+ #Find derivatives
+ trajectory[["xdot","ydot","thetadot"]] = trajectory[["x","y","theta"]].diff(axis = 0).fillna(0)/0.1
+
+ #FUDGE FACTOR TO DECREASE SPEED FOR TESTING!!!!
+ # Should probably be removed in future iterations. Was included because
+ # the robot was exceeding servo speed settings.
+ fudgefactor = 3.0
+ velref = trajectory[['xdot','ydot','thetadot']].to_numpy()/fudgefactor
+
+ # Create time vector
+ dt = trajectory.t.diff().mean()*fudgefactor
+ t = trajectory.t.to_numpy()*fudgefactor
+ tend = t[-1]
+ n = t.size
+ print("Sample time:",dt)
+ print("Experiment time:",tend)
+ print("Time steps:",n)
+
+ # Read controller parameters
+ if len(sys.argv) > 3:
+ print("\nController parameters:")
+ kp = float(sys.argv[2])
+ ki = float(sys.argv[3])
+ else:
+ print("\nNo controller paramater input. Using default values:")
+ kp = 0.1
+ ki = 0.01
+
+ print("kp =",kp)
+ print("ki =",ki)
+
+
+ # Robot parameters
+ R = 0.16 # Distance between center of robot and wheels
+ a1 = 2*np.pi/3 # Angle between x axis and first wheel
+ a2 = 4*np.pi/3 # Angle between x axis and second wheel
+ r = 0.028*0.45/18 # Wheel radius. Has been fudge-factored because the actual velocity of the wheels did not align with the set-points.
+
+ print("Bot dimensions:")
+ print("R =",R)
+ print("R =",r)
+
+ def phidot(xdot,ang):
+ """Returns reference velocities for the wheels, given current system state and reference velocities"""
+ M = -1/r*np.array([[-np.sin(ang), np.cos(ang), R ],[-np.sin(ang+a1), np.cos(ang+a1), R],[-np.sin(ang+a2), np.cos(ang+a2), R]])
+ return M.dot(xdot)
+
+
+ # Initiate experiment
+ print('Initiating experiment')
+ servos = load_servos() # Use predefined funtion to initiate servo connection
+ cflib.crtp.init_drivers() # Initiate drivers for crazyflie
+ uri = uri_helper.uri_from_env(default='usb://0') # Connection-uri for crazyflie via USB
+ cl = CrazyLogger(uri) # Create a crazyflie-based logger
+ pi = SimplePI(kp,ki,dt) # Create a PI-controller
+
+
+ time.sleep(1) # Wait for connection to work
+ t0 = time.time()
+
+ # Main control loop
+ for i in range(n-1):
+
+ # Read current position error:
+ e = np.array([trajectory.x.iloc[i]-cl.x(),trajectory.y.iloc[i]-cl.y(),trajectory.theta.iloc[i]-cl.theta()])
+
+ # Create reference speed through feed-forward (velref) and feedback (pi):
+ xdot = velref[i,:] + pi.update_control(e)
+
+ # Transform from x,y,theta-speeds to wheel rotational speeds.
+ ph = phidot(xdot,cl.theta())
+
+ # Set all servospeeds (enact control signal)
+ for (j,s) in enumerate(servos):
+ s.goal_velocity.write(round(ph[j]))
+
+ # Printing position and tracking error
+ print("x:",cl.x(),"\t y:",cl.y(),"\t theta:",cl.theta())
+ print("Position error:",e,"\n")
+
+ # Wait until next loop-iteration
+ time.sleep(max(t[i+1]+t0-time.time(),0))
+
+
+
+ # Shutdown
+ print("Experiment done, shutting down servos and logger")
+ for s in servos:
+ s.goal_velocity.write(0)
+ print("Finishing position: x =",cl.x(),"\t y= ",cl.y(),"\t theta =",cl.theta())
+ cl.close()
+
diff --git a/doc/MAX4_project_report.pdf b/doc/MAX4_project_report.pdf
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+\documentclass[10pt,a4paper]{article}
+\usepackage[utf8]{inputenc}
+\usepackage[T1]{fontenc}
+\usepackage{url}
+\usepackage{amsmath}
+\usepackage{amsfonts}
+\usepackage{amssymb}
+\usepackage{graphicx}
+\usepackage{caption}
+\usepackage{subcaption}
+\usepackage{xcolor}
+\setlength{\parindent}{0cm}
+
+\begin{document}
+ \begin{titlepage}
+ \begin{center}
+ \vspace*{1cm}
+
+ \Huge{\textbf{Omnibot}}
+
+ \vspace{0.5cm}
+ Process Documentation
+
+
+ \vfill
+
+
+
+ \includegraphics[width=\textwidth]{figs/bot.jpg}
+ \vspace{0.8cm}
+
+ \end{center}
+ \end{titlepage}
+
+ \section{Background}
+ The omnibot is a robot mounted with omni wheels, allowing it to traverse in any given direction. There have been a few projects run on the omnibot. The base was 3d-printed by Anders Blomdell, who also attached the dynamixel servos and wheels. Mounts and power supply was managed by Alexander Pisarevskiy.
+
+ \subsection{MAX 4 project}
+ A masters project has been done in using the omnibots, along with a mounted delta robot, to draw floor markings. An overview of this project can be found in the file \textit{MAX4\_project\_report.pdf}.
+
+ \subsection{FRTN75 lab}
+ In the course FRTN75, a motion planning lab was held with the omnibot. Here we pretended that the robot could only move in accordance to car dynamics. The lab can be found by logging into any of the lab computers \textit{philon-xx.control.lth.se} where xx is e.g. 04, a number between 1 and 12, through a browser. Then going into the frtn75-planning lab on the jupyterhub server.
+
+ \section{General Description}
+
+ \section{Robot Dynamics}
+ In the MAX4 project, the connection between wheel rotational speed and robot translational and rotational speed. See the file \textit{MAX4\_project\_report.pdf} for more details. The results are summarized here, and illustrated in Figure \ref{fig:dynamics}.
+
+ \begin{figure}[h]
+ \centering
+ \includegraphics[width=0.4\textwidth]{figs/dynamics}
+ \caption{Robot dynamics. Image stolen from \textit{MAX4\_project\_report.pdf}}
+ \label{fig:dynamics}
+ \end{figure}
+
+ Given coordinates $x$, $y$ and rotation $\theta$ in a global coordinate system and wheels labelled 1, 2 and 3. The connection between $\dot{x}$, $\dot{y}$ and $\dot{\theta}$ and the rotational speed of the wheels, $\dot{\phi}_1$, $\dot{\phi}_2$ and $\dot{\phi}_3$ is
+
+ \begin{equation}
+ \begin{pmatrix}
+ \dot{\phi}_1 \\ \dot{\phi}_2 \\ \dot{\phi}_3
+ \end{pmatrix} = \frac{1}{r}\begin{pmatrix}
+ -\sin(\theta) & \cos(\theta) & R \\
+ -\sin(\theta +2\pi/3) & \cos(\theta +2\pi/3) & R \\
+ -\sin(\theta +4\pi/3) & \cos(\theta +4\pi/3) & R \\
+ \end{pmatrix} \begin{pmatrix}
+ \dot{x} \\ \dot{y} \\ \dot{\theta}
+ \end{pmatrix}
+ \end{equation}
+ Here $R$ is the distance from the center of the robot to the wheels, and $r$ is the radius of the omniwheels.
+
+ \section{Crazyflie Positioning}
+
+ A crazyflie (version $\geq$ 2.0) has been used to provide positioning for the robot. This is done via a lighthouse deck (\url{https://www.bitcraze.io/products/lighthouse-positioning-deck/}) mounted on the crazyflie, along with HTC vive beacons mounted in the ceiling above the robot (\ref{fig:beacon}).
+
+ \begin{figure}[h]
+ \centering
+ \includegraphics[width=0.7\textwidth]{figs/beacon}
+ \caption{HTC vive positioning system.}
+ \label{fig:beacon}
+ \end{figure}
+
+ \subsection{Setting up the crazyflie}
+ When setting up the robot, make sure the crazyflie firmware is up to date, along with the firmware on the lighthouse deck. To update the version, use an external laptop together with a crazyradio and the crazyflie client (pip install cfclient).
+ \\
+
+ \textbf{Crazyradio}: \url{https://www.bitcraze.io/products/crazyradio-pa/}\\
+ \textbf{Cfclient}: \url{https://www.bitcraze.io/documentation/repository/crazyflie-clients-python/master/userguides/userguide_client}
+ \\
+
+ To be able to connect to the crazyflie, make sure you have the right USB permissions: \url{https://www.bitcraze.io/documentation/repository/crazyflie-lib-python/0.1.9/usb_permissions/}
+ \\
+
+ Once you have the crazyflie client up and running, update to the latest firmware. To do this, you must use a crazyradio to connect to the crazyflie, and the crazyflie must be connected to a battery (sadly it doesn't work to just connect to it via usb). You will find firmware update instructions here:
+ \url{https://www.bitcraze.io/documentation/repository/crazyflie-clients-python/master/userguides/userguide_client/#firmware-upgrade}
+
+ Once the firmware has been updated, you will not need the battery again.
+
+ \subsection{Setting up lighthouse system}
+ The beacons are mounted via 3d-printed mounts. See the 3Dprint-folder for models. Instructions on how to configure the lighthouse system can be found here:
+ \url{https://www.bitcraze.io/documentation/tutorials/getting-started-with-lighthouse/}
+
+
+ \subsection{Connecting to raspberry pi}
+ The raspberry pi is connected to the crazyflie via USB, which provides both power and communication. If you notice that the crazyflie turns on, but you cannot establish connection via the USB, try switching USB cables. Some USB cables don't transfer data.
+
+ \subsection{Reconfigure coordinate system}
+ Before you start running the robot, you will have to configure the robot's coordinate system. This is most easily done by connecting to the crazyflie via an external laptop using the crazyradio dongel and the crafyflie client. Instructions can be found here:
+ \url{https://www.bitcraze.io/documentation/tutorials/getting-started-with-lighthouse/}
+ \\
+
+ Note that the coordinate system doesn't need to be reconfigured everytime you boot up the crazyflie. However, if you make any changes like moving your beacons or testing area you will have to do this step.
+
+ \section{Dynamixel Servos}
+
+ The interface between the raspberry pi and the dynamixel servos driving the wheels is developed by Anders Blomdell in the form of a python package that can be found here:
+ \url{https://gitlab.control.lth.se/anders_blomdell/dynamixel}
+ \\
+
+ The servos have several important settings. When writing a script to control the robot, it is important to know the channel number and communication speed of each servo. The easiest ways to check or change the current settings on the servos is by downloading the dynamixel wizard to a laptop, and connecting the servos to the laptop. The wizard also allows changing the maximum set-speed of the servos.
+ \url{https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_wizard2/}
+
+ \section{Raspberry Pi}
+ The Raspberry Pi needs very little preparation. In the FRTN75-setup, it was booted with a simple raspian distribution. Instructions for setting up a raspberry pi with raspian:
+ \url{https://www.raspberrypi.com/documentation/computers/getting-started.html}
+ \textbf{Make sure to change the default password of the raspberry pi before connecting it to the internet!}
+ \\
+
+ In the FRTN75-course, a few python packages were needed, listed in \textit{requirements.txt} in the \textit{code} folder. Note that the python-dynamixel package is not available from pip, but needs to be pip-installed from the gitlab-repository you find under the \textit{dynamixel servos} section.
+ \\
+
+ In order to allow the raspberry pi to communicate with the crazyflie, you need to ensure the right USB settings. Instructions for this are available under the \textit{Crazyflie positioning} section.
+ \\
+
+ If the communication method of choice is ssh, as in the FRTN75-course, make sure SSH is enabled on the raspberry pi.
+
+
+ \section{Frame and Power Supply}
+
+ The frame was designed and 3d-printed by Anders Blomdell. Alexander Pisarevskiy designed and printed the mounts for the power supply, raspberry pi and crazyflie. 3D-print designs can be found in the \textit{3Dprint}-folder.
+ \\
+
+ The robot can be fed either through battery or cable. When the cable is connected it overrides the battery supply. During the FRTN75-labs, only the battery supply was used. One battery would last around two lab sessions à 4 hours, but in each session the robot was only on and running for around 1 hour in total.
+ \\
+
+ The batteries are charged with the charging system in Figure \ref{fig:charger}.
+
+ \begin{figure}[h]
+ \centering
+ \includegraphics[width=0.7\textwidth]{figs/charger}
+ \caption{Battery charging system.}
+ \label{fig:charger}
+ \end{figure}
+
+ \section{Communication}
+ In the FRTN75 course, there was no online communication between the raspberry pi and external computers. A local router was set up in the lab, where the raspberry pi was given a static IP address. This allowed students to ssh into the device to leave a reference trajectory file (csv format), and then execute the script \texttt{track\_path.py}, which read the file and executed it.
+
+ \section{Code and Scripts}
+
+
+
+ \url{https://gitlab.control.lth.se/anders_blomdell/dynamixel}
+\end{document}