Mauricio:
I made a couple of simple changes to your rc_mip_balance.py program and now I can control the robot through a web page. I'm running Flask on the Bone and it servers up a webpage that uses socket.io to talk to the bone. The server on the Bone talkes to your balance program via a named pipe.
Details are in https://github.com/MarkAYoder/BeagleBoard-exercises/tree/master/robot in flask/ReadMe.md.
The only changes I made to your balance program was to detect if stdin was a tty. If not, it skips the setcbreak(). This is so it can read from my program.
One question: Currently, when it detects theta is too big it stops running. Instead, is there a way that once it detects it's fallen to go to a disabled mode and then move to an enabled mode once it's recovered?
This would work better with my web interface. Better yet, when it first starts could it be in a disabled mode and wait until it is upright before running? This would be cleaner than waiting for a RETURN to be hit.
Thanks for all your work on this.
--Mark
Mauricio:
I made a couple of simple changes to your rc_mip_balance.py program and now I can control the robot through a web page. I'm running Flask on the Bone and it servers up a webpage that uses socket.io to talk to the bone. The server on the Bone talkes to your balance program via a named pipe.
Details are in https://github.com/MarkAYoder/BeagleBoard-exercises/tree/master/robot in flask/ReadMe.md.
The only changes I made to your balance program was to detect if stdin was a tty. If not, it skips the setcbreak(). This is so it can read from my program.
One question: Currently, when it detects theta is too big it stops running. Instead, is there a way that once it detects it's fallen to go to a disabled mode and then move to an enabled mode once it's recovered?
This would work better with my web interface. Better yet, when it first starts could it be in a disabled mode and wait until it is upright before running? This would be cleaner than waiting for a RETURN to be hit.
Thanks for all your work on this.
--Mark