merge conflict and readme update

old code was uploaded in the initial upload
changed everything with working programm and updated the readme

README.md

@@ -1,67 +1,103 @@
 
 # JackBot — Hexapod Control & Simulation
 
-**Purpose**
-- **Overview**: JackBot is a Python project for controlling and simulating a six-legged (hexapod) robot. It computes foot trajectories, runs inverse kinematics against a URDF model, and sends joint commands to either a hardware controller (ESP32 / Arduino) or a PyBullet simulation.
+JackBot is a Python project for controlling and simulating a six-legged hexapod robot.
+It uses IKPy for inverse kinematics, PyBullet for optional simulation, and can send joint commands to ESP32 or Arduino hardware.
 
-**Setup Dependencies and Virtual Enviroment**
-- **Python packages**: At minimum the project uses `numpy`, `pygame`, `ikpy`, `pybullet`, `pyserial`, and `matplotlib`.
-- **Install** (recommended inside a venv):
+## Requirements
 
-Linux / macOS (Bash):
+- Python 3.12 recommended on Windows
+- Python 3.11 / 3.12 is safest for `pygame` compatibility
+- Required Python packages:
+	- `numpy`
+	- `pygame`
+	- `ikpy`
+	- `pybullet`
+	- `pyserial`
+	- `matplotlib`
+
+## Setup
+
+### Linux / macOS (Bash)
 
 ```bash
 python3 -m venv .venv
 source .venv/bin/activate
+python -m pip install --upgrade pip setuptools wheel
 pip install numpy pygame ikpy pybullet pyserial matplotlib
 ```
 
-Windows (PowerShell):
+### Windows (PowerShell)
 
 ```powershell
 python -m venv .venv
 .\.venv\Scripts\Activate.ps1
+python -m pip install --upgrade pip setuptools wheel
 pip install numpy pygame ikpy pybullet pyserial matplotlib
 ```
 
-If PowerShell blocks activation, run:
+If PowerShell blocks activation:
 
 ```powershell
 Set-ExecutionPolicy -Scope Process -ExecutionPolicy RemoteSigned
 .\.venv\Scripts\Activate.ps1
 ```
 
-**Quick Start**
-- **Simulation**: enable the simulator in `config.py` by setting `sim = True`, then run:
+## Run
+
+From the repository root:
+
+```powershell
+python main.py
+```
+
+or on Linux/macOS:
 
 ```bash
 python3 main.py
 ```
-- **Hardware**: set `sim = False` in `config.py` and choose `arduinoConnection = True` or provide your ESP32 settings. Verify `port`, `baudrate`, `esp32_ip`, and `esp32_port` in `config.py`.
 
-**Project structure (key files)**
-- **Entry point**: [main.py](main.py) — starts the controller and state loop.
-- **Controller**: [Controller.py](Controller.py) — joystick input and `ControlIntent` updates.
-- **Kinematics**: [kinematics.py](kinematics.py) — URDF-based forward/inverse kinematics using IKPy.
-- **Simulation**: [simulation.py](simulation.py) — PyBullet visualization and joint control.
-- **Hardware comms**: [EspCommunication.py](EspCommunication.py) and [ArduinoCommunication.py](ArduinoCommunication.py) — send commands to ESP32 or Arduino.
-- **Runtime globals**: [GlobalVariables.py](GlobalVariables.py) — central runtime objects and flags.
-- **Types**: [DataTypes.py](DataTypes.py) — `PosArray`, `DegArray`, `RadArray`, `ControlIntent`.
-- **States**: [RobotState/idle.py](RobotState/idle.py) and [RobotState/walking.py](RobotState/walking.py) — state machine implementations.
-- **Config**: [config.py](config.py) — ports, flags (`sim`, `arduinoConnection`), URDF path, timing values.
+## Configuration
 
-**How it works**
-- `main.py` creates a `ControlIntent` and `RobotContext`, starts the controller thread, and runs a state loop. The `WalkingState` computes per-leg foot paths (Bezier/linear), converts positions to joint angles with `kinematics.ikpyInverse()`, then sends commands to hardware or updates the simulator.
+Edit `config.py` before running:
 
-**Configuration notes**
-- **URDF**: the robot description file is `JackBotUrdf.urdf`; ensure the path in `config.py` (`urdf_path`) is correct.
-- **Timing**: step timing and tick rate are configured in `config.py` (`standard_duration`, `standard_tickpersec`).
+- `sim = True` to enable PyBullet simulation
+- `sim = False` to use hardware control
+- `arduinoConnection = True` to use Arduino
+- `arduinoConnection = False` to use ESP32
+- `port` and `baudrate` for Arduino
+- `esp32_ip` and `esp32_port` for ESP32
+- `urdf_path = "JackBotUrdf.urdf"`
 
-**Suggested next steps**
-- Add a `requirements.txt` or `pyproject.toml` for reproducible installs.
-- Document hardware wiring and expected serial/ESP packet formats if you plan to use hardware.
-- Provide an example `config.py` for common setups (sim vs hardware).
+## Project structure
 
-**License & Contributing**
-- No license file included. Add `LICENSE` if you want to publish or share.
-- Contributions: open an issue or PR with improvements; add tests for kinematics if possible.
+- `main.py` — main application entry point
+- `Controller.py` — Pygame-based controller and input display
+- `kinematics.py` — IKPy forward/inverse kinematics
+- `simulation.py` — PyBullet simulation wrapper
+- `GlobalVariables.py` — shared runtime state and comms
+- `DataTypes.py` — typed arrays and control intent
+- `RobotState/idle.py` — idle robot state
+- `RobotState/walking.py` — walking robot state
+- `EspCommunication.py` — ESP32 communication
+- `ArduinoCommunication.py` — Arduino communication
+- `JackBotUrdf.urdf` — robot model file
+
+## Notes
+
+- `GlobalVariables.py` initializes either `Simulation()` or the selected hardware comm class.
+- `DataTypes.py` declares `PosArray`, `DegArray`, `RadArray`, `RobotCommand`, and `ControlIntent`.
+- `Controller.py` updates `gv.vector_dirmov` and `gv.robot_state` from joystick input.
+- `kinematics.py` loads leg chains from `JackBotUrdf.urdf` and computes IK.
+
+## Troubleshooting
+
+- If `pygame` installation fails on Windows, use Python 3.12 and upgrade `pip setuptools wheel` first.
+- If `python` is not found on Windows, install Python and enable "Add Python to PATH".
+- If the program crashes on startup, verify `JackBotUrdf.urdf` path and `config.py` settings.
+
+## Suggested improvements
+
+- Add a `requirements.txt` or `pyproject.toml`.
+- Add a `LICENSE` file before sharing the project.
+- Document hardware wiring and packet formats for ESP32/Arduino.