Warning This is a stripped down version of the original project. The project history was deleted from this, along with proprietary files from Spinbotics. This project/repository contains only files written by me, or open-source libraries. The project is still functional - the simulation still works, as before. Only files needed to communicate with the real hardware were removed.
To run the simulation, a virtual environment should be created. Before running the following commands, the file logging.py must be changed to a different name - the keyword logging interferes with pip or venv, and the virtual environment can't be created, while a file exists in the directory with this name. After creation and when the required packages are installed, the file can be changed back to it's original name.
python -m venv ./venv
pip install -r requirements.txt
The entry point is in the main.py file.
The project is compiled using Cmake. The main executable is called SimpleControl. Tested using MSVC compiler from Visual Studio 2022 and 2019. The project has dependencies on Googletest and Eigern - Cmake will download these dependencies.
To run the project in simulation mode, the simulation should be started first, and then SimpleControl.
To run on real hardware, define USE_REAL_ROBOT in main.cpp, line 17.