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engine-software/comms/README.md
FluffyCube9343 e9e2bc6426 Comms v1 is done!
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Comms

Code for wired communication from Slave Arduinos to Master Arduino, and then Master Arduino to Raspberry Pi.

###Code Description

  • RPi/ is working code for the Raspberry Pi
    • RPICOM.py is the main python file that should be run on the Raspberry Pi.
    • offsets.txt is the text file for the IMU offsets. This is not present in this repo but will be auto-generated by the RPICOM.py file. If the robot is interrupted and needs to be resumed, the IMUs will start at their default position; however, the offsets file allows the IMUs to use the position they last stopped at. Each line starts at 1.00 0.00 0.00 0.00 as these are the base quaternion values.
    • log.txt is the log file of what the RPi recieved. This is not present in this repo but will be auto-generated by the RPICOM.py file.
  • Arduino/ is working code for the master and slave Arduinos.
    • MasterCode/MasterCode.ino is the code for the Master Arduino
    • SlaveCode/SlaveCode.ino is the code for the Slave Arduinos, which reads actual IMU data.
    • SlaveFakeCode/SlaveFakeCode.ino is Slave Arduino code which generates fake IMU data, but in the real format to be sent to the Master Arduino.
    • blank/blank.ino is blank code for the Arduinos needed to reset during setup.
  • Prev/ is previous code used for testing systems and debugging errors (not final code, and may be unstable)

###Setup and Run

Make sure you install python beforehand

  1. Open terminal and clone the engine-software if not cloned already
git clone https://github.com/PotentiaRobotics/engine-software.git
  1. Cd into this directory
cd engine-software/comms/

  1. Plug in Master and Slave Arduinos and identify which one is master, and which one(s) are slaves.

  2. Allow permission to flash code

chmod 777 /dev/ttyACM*
  1. Open Arduino IDE and upload blank/blank.ino to all Arduinos.

Do not open serial monitor until steps 6-8 are done

  1. Upload SlaveCode/SlaveCode.ino or SlaveFakeCode/SlaveFakeCode.ino to the Slave Arduinos in Arduino IDE

  2. Upload MasterCode/MasterCode.ino to the Master Arduino in Arduino IDE

  3. Cd into RPi/

cd RPi/
  1. Install pyserial
pip3 install pyserial
  1. Run the python code.
python3 RPICOM.py