From 11ce004b8a60c757cd4b3d161b0ff78c7ddc1cfe Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=C3=89tienne=20Lefebvre?= <47181027+ethanlefebv@users.noreply.github.com> Date: Fri, 16 Apr 2021 18:43:50 -0400 Subject: [PATCH 1/2] Created README for OpenCR program --- main/README.md | 14 ++++++++++++++ 1 file changed, 14 insertions(+) create mode 100644 main/README.md diff --git a/main/README.md b/main/README.md new file mode 100644 index 0000000..557b7bf --- /dev/null +++ b/main/README.md @@ -0,0 +1,14 @@ +# _main_ folder +This folder contains all the C++ code that runs on the OpenCR. The purpose of the different files is [described here](#files) and a diagram of the [program structure](#program-structure) is also shown. + +## Files +- __actuators.cpp__ : This file contains all the functions to control the robot's movements (motors and solenoids). +- __comm_functions.cpp__ : This file contains all the functions required for the communication with the Raspberry Pi over the Serial port. +- __inverse_kinematics.cpp__ : This file contains the math functions to convert a 2D coordinate to motor angles. +- __nut.h__ : This file contains the definition of the Nut type. +- __main.ino__ : This is the main sketch file (main program for the OpenCR). + +## Program structure +The following image shows the main structure of the program running on the Raspberry Pi and the progam running on the OpenCR. + +![image](program_structure.png "Image") From 3fc902545392a2ab0dabb85c7d17a340ca56d80c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=C3=89tienne=20Lefebvre?= Date: Fri, 16 Apr 2021 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