Implemented commands in main to shut down robot after program is closed. Also got rid of time out for robot because it was causing new points to be sent in when the robto was in the middle of drawing.
Clean up-a
minor change to makefile to clean all test executables
modified image processing to simplify the detected contours so that each
contour is a collection of several straight lines instead of a pixel-by-
pixel contour.
Inverse Kinetics was not needed. The Bioloid library has functions to smoothly transition from point to point.
Inverse Kinetics was not needed. The Bioloid library has functions to smoothly transition from point to point.
Merged with Jason
Merge branch 'master' of https://github.com/J-Fid/Senior-Design-I
cleaned up the majority of the code in Robot.h and Robot.cpp by editing methods and adding comments.All positional methods were edited to remove magic numbers as much as possible. drawLine was fixed to include the interpolate method, which helps us to draw as straight a line as possible. Relax was also edited to contain interpolate.
Motor movement was also cleaned up and edited in simlar ways. The drawLine function was changed to include an additional paramter: the BioloidController object, which contains the interpolate method.
merging with Josh
Merge branch 'master' of https://github.com/jcoady9/Senior-Design-I
Inverse Kinematics kind of working. Still have to fudge the numbers a little and work on scaling.
Added degree conversion for motor degrees.
Added degree conversion for motor degrees.
Implemented a means of drawing multiple lines. Also fixed the mistakes from Shane's last commit.
Implemented a means of drawing multiple lines. Also fixed the mistakes from Shane's last commit.
Implemented a means of drawing multiple lines. Also fixed the mistakes from Shane's last commit.