Firmware for Fredo1 3-DoF Manipulator

This is a repo storing the firmware of FREDO1. Within the firmware, we exploited ARDUINO + SERIAL and socket to achieve communication amongst each executables.

Tree

• fo1
  • fo1.ino: low-level communication for pulse sending and signal acquisition.
• fo1_serial/src
  • serial_link.cpp: frontal communication via serial with ARDUINO.
  • serial_com.cpp: handling low raw signals and readable estimation and control inputs.
  • com_util.cpp: communication libraries similar to ROS.
  • ctrl_test.cpp: angle testing.

Prerequisites

Please refer to here.

Usage

• To bootload the code into ARDUINO, do

  ./bootload.sh fo1
  

• To launch

  ./launch.sh TWIN # TWIN mode for visualizing
      || 
  ./launch.sh CTRL # CTRL mode for controlling