ARDOP uses the PCA9685 I2C driver for controlling its servo motors. Jetson drivers for the PCA are used. Install the driver using steps mentioned here: (http://www.jetsonhacks.com/2015/10/14/pwm-servo-driver-board-nvidia-jetson-tk1/).
The ARMA library is used for all matrix and vector operations.
Analytical and iterative inverse Kinematics solutions have been implemented.
- Build the program by running
makein the./srcfolder. - Run the program using
sudo ./build/jac