Qt Hexapod Controller Application

A Qt-based graphical user interface application to control a hexapod robot running on BeagleBone AI. The application provides both classic widget-based and modern QML-based interfaces for robot control and monitoring.

Features

• Real-time hexapod visualization and control
• IMU data monitoring and visualization
• Support for both keyboard and on-screen controls
• Dark/Light theme support
• Connection management with auto-discovery
• Balance mode and speed control
• Server simulation mode for testing
• Configurable keyboard shortcuts

Prerequisites

• Qt 6.8.2 or later
• GCC with C++17 support
• BeagleBone AI board with hexapod server running
• Linux development environment

Building the Application

1. Clone the repository:

git clone https://github.com/NguyenTrongPhuc552003/qt-application-hexapod.git
cd qt-application-hexapod

2. Build the application:

make -C build/Desktop_Qt_6_8_2-Debug/

After successful build, you'll find the executable qtui in the build directory.

Deployment to BeagleBone AI

1. Copy the executable and required files:

scp build/Desktop_Qt_6_8_2-Debug/qtui debian@beaglebone.local:~/hexapod/
scp -r utils/* debian@beaglebone.local:~/hexapod/utils/

2. Install the server service on BeagleBone:

ssh debian@beaglebone.local
cd ~/hexapod/utils
sudo ./install.sh

Usage

1. Start the application:

./qtui

2. Connect to your BeagleBone:

   • Use the default address: beaglebone.local:8080
   • Or click "Auto-Discover" to find available servers

3. Control the hexapod using:

   • Keyboard controls (WASD)
   • On-screen buttons
   • Touch-enabled joystick (QML interface)

Keyboard Shortcuts

• W - Move forward
• S - Move backward
• A - Turn left
• D - Turn right
• Space - Stop movement
• B - Toggle balance mode
• Ctrl+T - Toggle dark/light theme
• F1 - Show keyboard shortcuts

Configuration

Settings are automatically saved and include:

• Last used connection details
• Window position and size
• Theme preference
• Control settings
• Recent connections

Development

Project Structure

qt-application-hexapod/
├── components/       # QML interface components
├── icons/            # Application icons
├── styles/           # QSS style sheets
├── utils/            # Server installation scripts
│   ├── install.sh    # BeagleBone installation script
│   └── server.py     # Python test server
├── *.cpp             # C++ source files
├── *.h               # Header files
├── *.ui              # Qt Designer UI files
├── *.qrc             # Qt Resource files
└── qtui.pro          # Qt Project file

Adding New Features

1. UI modifications can be made through:

   • Qt Designer (*.ui files)
   • QML components (components/*.qml)
   • Direct code changes

2. Implement new controls in:

   • mainwindow.cpp for widget-based interface
   • QML files for modern interface

License

MIT License

Support

For support, please contact us at trong552003@gmail.com or visit our GitHub Issues page.