Multi motor controller

Simulation of a multi-motor controller for Aisprid technical challenge.

Compile

In root directory, call make to generate binary file. To clean up, call make clean.

Usage

Configure simulation

• Edit config file with simulation parameters. This file should be provided to every commands.

Servers startup

1. Start Motor servers (with valid IDs from config file):

   ./motorsim -c ./cfg/motors.yaml motor --id [ID] serve
   

2. Start Motor controller server (Beware, if modifying port controllers commands except Port 8080):

   ./motorsim -c ./cfg/motors.yaml controller serve
   

Client usage

Motor controller commands

• Get joints values:

  ./motorsim -c ./cfg/motors.yaml controller getJoints
  

• Set joints values:

  ./motorsim -c ./cfg/motors.yaml controller setJoints [Joint goals]
  

Motor commands

Every command should be provided with valid ID from config file:

• Listen motor state:

  ./motorsim -c ./cfg/motors.yaml motor --id [ID] listen
  

• Set motor velocity:

  ./motorsim -c ./cfg/motors.yaml motor --id [ID] moveVel -- [Velocity]
  

TODO

• Closed loop control.
• Share Motor controller port with 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.