Mobile Robotics Project

This is the repo for Alex and Lissett's Mobile Robotics project.

It contains code written for Python 2.7 and Arduino.

Goal

In python we generate a shortest path from one node into another in a graph and convert those into commands for the SERB robot run by the arduino. These commands are store in a queue which get sent using PySerial to the Arduino. The Arduino reads the dequeued commands over the USB and performs the corresponding actions.

The graph we are using

Problems

Currently we are having difficulty with PySerial communicating with the the arduino. To test the rest of the project we have hard coded 2 sample command queues in an array. Un commenting one of these will allow the SERB to run those commands

The following is the repo structure:

SERB directory contains project files

SERBmp.ino is Arduino code for SERB motion control. SortestPathSearch.py generates a graph, finds the shortest path, and creates appropriate motion plan.

Reference files in Reference directory

Reference files for PySerial, SERB, and Line Following template code.