Embedded software for the input device embedded in the crutch 🕹️
This repository has been archived. A recent version can be found on https://gitlab.com/project-march.
The input device is embedded in the crutch, it allows the pilot to control the exoskeleton.
| Branch | Build Status |
|---|---|
| master |  |
| develop |  |
This project uses the cross platform builder platformio.
So you will need to install that first.
Then to install the libraries run:
pio lib install
The project can then be built with pio run.
There exist three environments for building:
demo: builds in debug mode and does not wait for a response from thedebug: builds in debug mode. This is the default.release: builds in release mode.To choose an environment use the --environment (-e) option. For example to
build the release environment run:
pio run -e release
This only builds the project. To actually upload the project, connect the
input device and use the --target (-t) option. This will by default upload
the debug environment.
pio run -t upload
When you run the input device you can read the messages sent over the
USB serial by adding the monitor target.
pio run -t upload -t monitor
This will build, upload and then print messages sent over the serial
by the input device using Serial.println().
The input device can be launched with a ROS serial connection.
For this a workspace with the march repository
is required.
roslaunch march_launch serial_connection.launch
This project uses ROS messages from the march_shared_resources package.
So when these messages are changed the ros_lib in the lib/ directory will need to be updated. How to do this is described here: http://wiki.ros.org/rosserial_arduino/Tutorials/Arduino%20IDE%20Setup.