Robot Controller Interface

A Python-based interface for controlling a robot with GPS navigation capabilities. This project includes both the controller interface software and the Arduino firmware for the robot.

Features

• Real-time controller input monitoring and visualization
• GPS navigation with waypoint support
• Interactive map display with click-to-add waypoints
• Route tracking and waypoint management
• Return to Home functionality
• Compass heading with BNO055 sensor
• Autonomous waypoint navigation with autopilot
• Serial communication with Arduino controller
• Support for multiple input devices

Requirements

Python Dependencies

• nicegui
• pyserial
• inputs
• folium
• asyncio
• numpy

Arduino Dependencies

• AccelStepper
• Servo
• Wire
• Adafruit_ADXL345_U
• Adafruit_BNO055
• Adafruit_Sensor
• TinyGPS++

Installation

1. Clone the repository
2. Install Python dependencies:

   pip install -r requirements.txt

3. Upload the Arduino sketch (controller_interface.ino) to your Arduino board

Usage

1. Run the Python interface:

   python src/main.py

2. Connect your controller
3. Select the appropriate serial port for the Arduino
4. Use the interface to monitor controller inputs and manage GPS waypoints

GPS Features

Position Tracking

• Real-time GPS position tracking
• Interactive map display
• Position history tracking

Waypoint Management

• Click-to-add waypoints on the map
• Waypoint table with name, coordinates, and status
• Automatic waypoint completion when within range
• Customizable completion radius

Return to Home (RTH)

The Return to Home feature allows your robot to automatically navigate back to its starting position:

• How it works: The system automatically saves the first valid GPS position after startup as the "home" location
• Activation: Click the "Return to Home" button in the GPS section
• Behavior: Creates a new waypoint at the home position that the robot can navigate to
• Requirements: Requires a valid GPS fix on startup to set the home position

Autopilot Navigation

The autopilot feature provides autonomous navigation through waypoints:

• Waypoint Following: Automatically navigate through a sequence of waypoints
• Pure Pursuit Algorithm: Uses a sophisticated path-following algorithm with cross-track error correction
• Manual Override: Temporarily take control by moving the right joystick, autopilot resumes after 5 seconds of inactivity
• Split Control: Keep manual control of the camera gimbal (left joystick) while autopilot handles steering and throttle
• Speed Control: Adjust the maximum speed of the autopilot with an intuitive slider
• Variable Speed: Automatically reduces speed during sharp turns and when approaching waypoints
• Visual Feedback: Real-time display of heading errors, cross-track errors, and steering commands
• One-Click Activation: Enable/disable autopilot with a simple toggle switch

Compass Navigation

The BNO055 compass sensor provides accurate heading information for navigation:

• Heading: Displays the current direction in degrees (0-360°)
• Pitch and Roll: Shows the orientation of the vehicle in 3D space
• Auto-Calibration: The BNO055 features self-calibration capabilities
• Calibration Status: Visual indicators display calibration levels for system, gyroscope, accelerometer, and magnetometer
• Integration: Compass data is available simultaneously with GPS data, even without GPS signal
• Real-time Updates: Heading updates twice per second for responsive navigation

Route Navigation

• Route visualization with lines between waypoints
• Distance and bearing calculations to next waypoint
• Route progress tracking
• Current route highlighted on map

License

This project is licensed under the MIT License - see the LICENSE file for details.