diff --git a/README.md b/README.md index 5a255ad..bb8d1de 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,17 @@ -# THEA_CODE +# BLACKBOX_CODE -# Thea project code repo \ No newline at end of file +# BLACKBOX project code repo +This is the code repo for the PCS project. +Please see the System setup PDF file for detailed setup and running instructions + +Folder structure: + Legacy: old code for initial spec box, not used + Control/Jetson: Code that is run on the jetson. Most of the files are libraries and the only runnable file is main.py + Control/Pi: Code that is run on the Pi. Most of the files are libraries and the only runnable files are: main_server.py, compass_service.py, PCU_status_server/server.js + Embedded: COde to be loaded on the different arduinos for the IK: + drivetrain_ctrl: controls the forklift drivetrain (steering, direction switch and throttle) steering is done with a dynamixel 106-T and a duplex to half duplex converter board, direction switch is handles by a relay board and throttle is controlled with a I2C DAC. + fork_ctrl: controls the fork (horizontal and vertical) + ICM_mag_reader: reads the magnetic data from the ICM module (for the compass) + pallet_sensor: detects the distance between the forklift and the pallet (sends distance feed from a proximity sensor over usb serial) + proximity_sensor: similar to pallet_sensor but takes distances from 12 proximity sensors and sends over usb serial + PC: code for testing various systems on a PC for convenience and graphical debugging (as both the Pi and Jetson were run headless) diff --git 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