MOE

This repository contains the source code used to run the MOE robot. Examples of applications used to run MOE can be found in the examples folder.

An example of a repository that can be used to run Model Predictive Control on MOE can be found here.

Connection to the MOE Sim To download the Simulator, visit the Releases Page of the MOE Sim repository.

Most programs built using this MOE system include something like the following code, which enables the user to pass an argument -v when running an executable to connect to the simulator instead of the physical robot. For example, to run the rom_demo example, you would run ./rom_demo to connect to the physical robot, or ./rom_demo -v to connect to the simulator

/////////////////////////////////
// construct and config MOE   //
/////////////////////////////////

std::shared_ptr<Moe> moe = nullptr;
std::shared_ptr<Q8Usb> daq = nullptr;

if(result.count("virtual") > 0){
    MoeConfigurationVirtual config_vr; 
    moe = std::make_shared<MahiOpenExoVirtual>(config_vr);
}
else{
    daq = std::make_shared<Q8Usb>();
    daq->open();

    MoeConfigurationHardware config_hw(*daq,VelocityEstimator::Hardware); 

    std::vector<TTL> idle_values(8,TTL_LOW);
    daq->DO.enable_values.set({0,1,2,3,4,5,6,7},idle_values);
    daq->DO.disable_values.set({0,1,2,3,4,5,6,7},idle_values);
    daq->DO.expire_values.write({0,1,2,3,4,5,6,7},idle_values);   

    moe = std::make_shared<MahiOpenExoHardware>(config_hw);
}