The code here is structured as an FSM. There is a single main file, which implements the entire FSM for data collection.
To run this code, you need to run
make flash
Which will flash the code to the robot.
For compilation, simply running:
make
Is good enough.
For debugging, writing print statements and running:
make rtt
will allow you to view print statements directly to the computer. Note the robot has to be plugged in for this to work.
We have also included a Python script robot_control.py that can be used to collect system-id data from the Romi. Before running this script, make sure that your computer has BLE capability and that you have the Bluepy python package installed. To use the script, turn on your Romi and run
sudo ./robot_control.py
Upon running the file, you will be asked to specify parameters for the trial to record data for. These parameters are
- Left motor input
- Right motor input
- Time for each collection period
- Name of trial
- Number of collection periods
All data will be stored as a time-series in .csv format under /data as {name}.csv.