Ctrl-P: Python Control Interface

The top-level control interface for controlling a Ctrl-P pressure control system.

Versions

You can always keep up to date by using the version in the master branch. For previous stable versions, checkout the releases.

Dependencies

All dependencies are managed in the reqirements file. pip install -r requirements.txt

Usage

Instructions in the documentation

About Ctrl-P

The Ctrl-P project is a full-stack pneumatic control system featuring smooth control of pressure at a high bandwidth.

Ctrl-P has four parts:

• Arduino-Based Firmware: Contains the low-level pressure control
• Python Hardware Interface: The low-level device drivers and command handling via serial comms
• Python Control Interface: High-level handling of pressure trajectories in raw python
• ROS Driver: High-level handling of pressure trajectories in ROS

Related Packages:

• Pressure Controller Skills: Build complex parametric skills using straightforward definition files.
• Visual Servoing: Example of setting up a realtime feedback controller.