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+# Multi motor controller
+Simulation of a multi-motor controller for [Aisprid technical challenge](doc/Aisprid_ingenieur_robotique_challenge_technique.pdf).
+
+## Compile
+In root directory, call `make` to generate binary file. To clean up, call `make clean`.
+## Usage
+### Configure simulation
+- Edit [config file](./cfg/motors.yaml) with simulation parameters. This file should be provided to every commands.
+### Servers startup
+1. Start Motor servers (with valid IDs from [config file](./cfg/motors.yaml)):
+    ```bash
+    ./motorsim -c ./cfg/motors.yaml motor --id [ID] serve
+    ```
+2. Start Motor controller server (Beware, controllers commands except Port 8080):
+    ```bash
+    ./motorsim -c ./cfg/motors.yaml controller serve -p 8080
+    ```
+### Client usage
+#### Motor controller commands
+- Get joints values: 
+    ```bash
+    ./motorsim -c ./cfg/motors.yaml controller getJoints
+    ```
+- Set joints values (Beware, currently set the same values for all joints):
+    ```bash
+    ./motorsim -c ./cfg/motors.yaml controller setJoints --j [Joint goals]
+    ```
+#### Motor commands
+Every command should be provided with valid ID from [config file](./cfg/motors.yaml):
+- Listen motor state:
+    ```bash
+    ./motorsim -c ./cfg/motors.yaml motor --id [ID] listen
+    ```
+- Set motor velocity:
+    ```bash
+    ./motorsim -c ./cfg/motors.yaml motor --id [ID] moveVel --vel [Velocity]
+    ```
+
+## TODO
+- [ ] Prevent startup of multiple motors with same ID.
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