BLACKBOX_CODE

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)