From c7a65b31b96b39a251ff285ddf87aa7af9f30956 Mon Sep 17 00:00:00 2001 From: AntoineH Date: Thu, 5 Sep 2024 15:49:34 +0200 Subject: [PATCH] Update readme --- README.md | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/README.md b/README.md index da48281..8ebb43a 100644 --- a/README.md +++ b/README.md @@ -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. \ No newline at end of file