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AntoineH 2024-09-05 15:49:34 +02:00
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README.md
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@ -5,13 +5,13 @@ Simulation of a multi-motor controller for [Aisprid technical challenge](doc/Ais
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.
- Edit [config file](./cfg/motors.yaml) with simulation parameters. This file should be provided to every commands. Beware to set different ports to every motor.
### 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, if modifying port controllers commands except Port 8080):
2. Start Motor controller server (Beware, if modifying default port, other controllers commands except Port 8080):
```bash
./motorsim -c ./cfg/motors.yaml controller serve
```
@ -33,13 +33,12 @@ Every command should be provided with valid ID from [config file](./cfg/motors.y
```
- Set motor velocity:
```bash
./motorsim -c ./cfg/motors.yaml motor --id [ID] moveVel -- [Velocity]
./motorsim -c ./cfg/motors.yaml motor --id [ID] moveVel [Velocity]
```
## TODO
- [ ] Closed loop control.
- [ ] Share Motor controller port with controller commands.
- [ ] Closed loop control. Currently, not robust to delay in communications and limited command precision.
- [ ] Share Motor controller server port with other controller commands.
- [ ] Use coroutines for gRPC services callbacks.
- [ ] Fix get Motor State service (Behavior not robust).
- [ ] Fix Controller SetJoint command CLI omitting multiples input values.
- [ ] Send error responses to clients of gRPC services.