Team Six/Final Paper
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| − | + | ==Introduction== | |
| + | Janky the cocoabot won the competition on MASLAB 2015. It had a very simple design and its code was very modular. | ||
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| + | ==Software== | ||
| + | The whole code can be found on our github repository: [https://github.com/asraa/cocoabots/tree/master/src] | ||
| + | |||
| + | ===Language and Libraries=== | ||
| + | The whole code was written in C++11, with the exception of the code present in our Arduino, responsible for communicating with the color sensor, which was written in C. | ||
| + | |||
| + | We decided first to use C++ since most of the example code for the sensors was in C++ and no one in the group felt inclined about making use of JNI to interface with the hardware. Then later, we moved to C++11, to make use of the Thread support library "<thread>" and Date and time utilities "<chrono>". | ||
| + | |||
| + | We used Opencv for our computer vision code. We used standard C++ libraries, "string", "unistd", "cmath", "cstdio", "fstream", "iostream", "signal.h", besides libraries related to containers, such as vector. | ||
| + | |||
| + | ===Design=== | ||
| + | We had 8 threads running on the robot. A high level decision code, a motor control thread, a servo control thread, an actuator thread, a sensors thread, a logging thread, and two threads listening for interrupts for the encoders. | ||
| + | |||
| + | ====Actuator thread==== | ||
Revision as of 07:13, 2 February 2015
Contents |
Introduction
Janky the cocoabot won the competition on MASLAB 2015. It had a very simple design and its code was very modular.
Software
The whole code can be found on our github repository: [1]
Language and Libraries
The whole code was written in C++11, with the exception of the code present in our Arduino, responsible for communicating with the color sensor, which was written in C.
We decided first to use C++ since most of the example code for the sensors was in C++ and no one in the group felt inclined about making use of JNI to interface with the hardware. Then later, we moved to C++11, to make use of the Thread support library "<thread>" and Date and time utilities "<chrono>".
We used Opencv for our computer vision code. We used standard C++ libraries, "string", "unistd", "cmath", "cstdio", "fstream", "iostream", "signal.h", besides libraries related to containers, such as vector.
Design
We had 8 threads running on the robot. A high level decision code, a motor control thread, a servo control thread, an actuator thread, a sensors thread, a logging thread, and two threads listening for interrupts for the encoders.
