mod-Controller

The mod-Controller uses path data to calculate the best steering instructions and throttle values for the actuator to use.

Runs on Rover1 Debix

Precompiled binary available here

Adheres to Makefile spec

Source code is confidentially available using your Github token

Uses service.yaml

Registers with SystemManager

Functionalities

• Based on imaging data, use PID to adjust steering position
• Based on electronic differential and object detection, adjust motor power of individual motors

Running this module

Using the rover.yaml

1. Download the latest version of this module using the rover utility.

sudo rover update

2. Enable this module in your /home/debix/rover.yaml file by (re)adding the following lines:

...
- name: mod-Controller
  cmd: mod-Controller -service-yaml /home/debix/mods/mod-Controller/service.yaml -debug
...

3. Start with the rover utility

sudo rover start

Precompiled

1. Download this module from the ASE Download Manager to your current working directory using curl

curl https://downloads.ase.vu.nl/api/mod-Controller/latest -JL -o mod-Controller.zip

2. Unzip the downloaded zip file. This will deflate the precompiled binary and its service yaml

unzip mod-Controller.zip

3. Execute the binary

./mod-Controller

From source

1. Clone the source code using your private ASE token. Make sure to replace <YOUR_TOKEN> with the token you received by email.

git clone https://<YOUR-TOKEN>@github.com/VU-ASE/mod-Controller.git
git pull

2. Enter the source code directory

cd mod-Controller

3. Build and start from source

make start

Using this module

Dependencies

This module uses CameraSensorOutput messages outputted by mod-Imaging.

Outputs

This module outputs steering instructions based on lateral PID control and electronic differential steering. It encodes this data to a ControllerOutput protobuf message.