Merge branch 'master' of https://github.com/The-Strawstairies/Staircl…

…imber-v1

src-analysis/main.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import serial
 #import numpy as np
-#import pandas as pd
+# import pandas as pd
 #import matplotlib.pyplot as plt
 #from mpl_toolkits.mplot3d import Axes3D
 import math
@@ -15,7 +15,7 @@
 
 def setup_serial():
     """ Setup serial connection object"""
-    arduino_com_port = "/dev/ttyACM0"
+    arduino_com_port = "/dev/cu.usbmodem14201"
     baud_rate = 115200
     serial_port = serial.Serial(arduino_com_port, baud_rate, timeout=1)
     return serial_port
@@ -70,8 +70,7 @@ def main():
     # as a daemon
     input_queue = queue.Queue()
     kbd_thread = threading.Thread(target=read_kbd,
-                                  args=(input_queue,),
-                                  daemon=True)
+                                  args=(input_queue,))
     kbd_thread.start()
 
     # setup the serial object
@@ -101,10 +100,10 @@ def main():
                 print("python side end\n")
                 # convert to dataframe and write to a csv when
                 # we stop the program!
-                df = pd.DataFrame(data_recorder[1:], columns=data_recorder[0])
-                df.to_csv("robot_run", sep=',', encoding='utf-8')
+                # df = pd.DataFrame(data_recorder[1:], columns=data_recorder[0])
+                # df.to_csv("robot_run", sep=',', encoding='utf-8')
                 # print it out to see if that worked
-                print(df)
+                # print(df)
             elif (input_reading[0] == "V" or input_reading[0] == "v"):
                 # change the speed of the robot
                 output = "V" + input_reading[1:]

src/drivetrain.h

@@ -3,9 +3,9 @@
 
 struct Speeds {
 	// struct
-	float linvel = 30;
+	float linvel = 75;
 	float l;
 	float r;
 };
 
-#endif
+#endif

src/main.cpp

@@ -1,13 +1,15 @@
 
 /*
- * Line Following Robot
- * By Sam Daitzman, David Tarazi, and Dieter Brehm
+ * Stair climber
+ * By Caroline Rausch, Sam Daitzman, David Tarazi, and Dieter Brehm
  */
 #include "Arduino.h"
 #include "Wire.h"
 #include "pid.h"
 #include "drivetrain.h"
 #include "CytronMotorDriver.h"
+#include "Adafruit_MS_PWMServoDriver.h"
+#include "Adafruit_MotorShield.h"
 
 CytronMD l_motor(PWM_DIR, 3, 4); // PWM = Pin 3, DIR = Pin 4
 CytronMD r_motor(PWM_DIR, 5, 6); // PWM = Pin 3, DIR = Pin 4
@@ -29,6 +31,7 @@ void send_motor_cmd(int l, int r) {
 		// handles negative values as reverse direction
 		l_motor.setSpeed(l);
 		r_motor.setSpeed(-r);
+		delay(10);
 }
 
 void drive_all(int speed) {
@@ -124,7 +127,7 @@ void loop() {
 		// S = run
 		// E = stop running
 
-    // log values
+    	// log values
 
 		// LOG,time,left,right,sensor_left, sensor_right
 		Serial.print("LOG,Motors,");
@@ -150,6 +153,8 @@ void loop() {
 			default:
 				drive_all(0);
 				break;
+		// l_motor.setSpeed(200);
+		// r_motor.setSpeed(200);
 		}
 	} else {
 		drive_all(0);

start-arduino.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+python3 src-analysis/main.py

start.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+
+python3 src-analysis/main.py