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Holonomic Robotic Platform (view source)
Revision as of 15:41, 1 January 2020
, 15:41, 1 January 2020→Code to Facilitate Development
==Code and Mathematics==
==Code and Mathematics==
===Code to Facilitate Development===
===Code to Facilitate Development===
To help easy development of specific modules in the Holonomic Robot, a communications interface is implemented between the Robot(Raspberry PI 4 Server) and a Laptop Development workstation(HP Client). The protocol is built on TCP Tx-Rx Exchange between the two devices. The code modules are Python running at both ends. The Robot starts out as a purely slaved device taking commands from the laptop. Motor control modules manipulating the GPIO interface run on the Robot but are commanded by the laptop. As the motor control is refined and routinized along with the growth of intrinsic autonomy, the code is transitioned from the Laptop to the Robot. Code is primarily developed in Python 3.7.
====Robot to Laptop Base Communication Code====
<source lang="Python">
# utf-8
import system
import socket
</source>