Project was designed to visualize position and sensor values of the floor cleaning robot developed in project called "ROMAN". Hopefully it can be used with other mobile robots too.
Jacek Multan
Window application which calculates robot position basing on sensor values. It has three main widgets:
- "Map" which allows user to see how robot position is changing over time
- table containing current sensor values
- graphs showing how sensor values are changing over time
Program uses bluetooth to receive information from the robot. User can scan for nearby devices then choose one and connect to it.
Project was written using open source version of QT framework and QCustomPlot.
Little-endian byte order
- 1byte <uint8_t> option (currently only one 0xAA - sending sensor data)
- 2bytes <uint16_t> PWM of right motor
- 2bytes <uint16_t> PWM of left motor
- 2bytes <int16_t> speed and direction of right motor
- 2bytes <int16_t> speed and direction of left motor
- 2bytes <int16_t> gyroscope data
- 4bytes <float> compass data
- CRC