distance-robot-control

In this folder u can access the tools for the project of the digital regulator and run it

How to compile

If you are using cmake, after you've cloned the repository into your disposal, digit (by cmd) the command "make"

How to find the velocity response and transfer function by Meca

If you desire to find the velocity response by Meca, execute velocity_response. It will generate datas in a folder called "control...".

If u want to set the parameters of the velocity waveform, change the code in velocity_response.cpp and re-compile.

Then, execute the Python script "plot_response.py" passing the generated folder to plot the data in some graphs. It's needed to generate other useful csv files.

Then, only after executed the previous script, execute "find_tf.py" to find the parameters of Meca500 transfer function.

You can test it, opening and running the Matlab script "test_tf.mlx" after setting the right parameters

How to project the digital regulator:

If you desire to project the digital regulator, open find_R, write your parameters and execute the script.

How to run the close loop control:

If you desire to run close loop control, you need to place the obstacle opposite to the sensor and run regulator.

If u need to set the parameters for calibration, open the code, change them and re-compile.