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Max 2021-10-02 12:06:24 +01:00
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README.md
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# THEA_CODE
# BLACKBOX_CODE
# Thea project code repo
# 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)

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results.csv
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