Code for the 2019 Fracture Fixation Project, University of Southampton GDP group 47. The frame was designed with one BLDC motor embedded in each strut.
The kinematics solves for the change in length required for each strut of a hexapod robot to realign itself from an unaligned start position.
The accelerometer script was used to monitor vibrations transmitted across an artificial fracture site for comparison with more expensive accelerometers.
The python script analyses the output of the accelerometers by performing a fourier transform and plotting the result. A change in the frequency profile over time was hoped to correlate with fracture healing, but we found the cheap accelerometers were not sensitive enough.