Defender Arm

Description

This project involves a mechanical device controlled to intercept the trajectory of a tracked object. We are currently using an IMU to measure acceleration of the object, which communicates the measurements to a Raspberry Pi onboard the mechanical component to generate control signals. The target form of this project is a multi-joint arm that is able to block swings of a sword.

This is the main repository for our capstone project. It contains code that is run on the Raspberry Pi. Code for the ESP32 unit is found in this repo (gateway) instead.

Project Members

• Daksh Mathur
• Gavin Jameson (control-system lead)
• Luke Schuurman
• Rebecca Schmelzer
• Wisam Ashique (gateway lead)

Instructions

Prerequisites

Software

• Python 3.8.X
  • Other distributions may work, however some libraries may not be compatible

Hardware

• Computer with Bluetooth Classic capabilities (we are using Raspberry Pi 4 Model B)

Install

1. clone repository
   • via SSH, with git clone git@github.com:Defender-Arm/control-system.git
2. in root directory of local clone, install system dependencies with python3.8 -m pip install -r requirements.txt

Execute

On Pi, run with python3.8 main_pi.py

On Windows, run with python3.8 main_windows.py

Test

Run test suite with ...