cleanup

EspCommunication (2).py

@@ -1,80 +0,0 @@
-import socket
-import struct
-
-PACKET_VERSION = 1
-FLOAT_COUNT = 30 * 6 * 3
-
-PACKET_FMT = f"<H I B B {FLOAT_COUNT}f"
-PACKET_SIZE = struct.calcsize(PACKET_FMT)
-
-import time
-import numpy as np
-from threading import Thread, Event
-from queue import Queue
-
-import config as cfg
-import DataTypes as dt
-
-
-class ESP32Communication(Thread):
-    def __init__(self, host=cfg.esp32_ip, port=cfg.esp32_port, timeout=cfg.timeout):
-        super().__init__()
-        self.daemon = True
-        self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-        self.sock.settimeout(timeout)
-
-        print(f"Connecting to ESP32 at {host}:{port} ...")
-        self.sock.connect((host, port))
-        print("Connected to ESP32!")
-
-        self.command_queue = Queue()
-        self.response_queue = Queue()
-        self.running = Event()
-        self.running.set()
-
-    def run(self):
-        while self.running.is_set():
-            # 1. Send queued commands
-            if not self.command_queue.empty():
-                command = self.command_queue.get()
-                self._write(command)
-
-            # 2. Read response
-            self.sock.setblocking(False)
-            try:
-                data = self.sock.recv(1024)
-                if data:
-                    line = data.decode('utf-8', errors='ignore').strip()
-                    print(f"[ESP32] {line}")
-                    self.response_queue.put(line)
-            except BlockingIOError:
-                pass
-
-            time.sleep(0.01)
-
-    def write(self, target):
-        if isinstance(target, dt.RadArray):
-            target = dt.DegArray(np.degrees(target.data))
-        leg_str = '\n'.join([','.join(map(str, row)) for row in target])
-        formatted_data = f"<{leg_str}>"
-        print(f"Gesendete Daten:\n{formatted_data}")
-        self._write(formatted_data)
-
-    def wait4esp32(self, expected_message):
-        while True:
-            try:
-                data = self.sock.recv(1024).decode('utf-8').strip()
-                print(f"Empfangene Daten: {data}")
-                if data == expected_message:
-                    print("Bewegung abgeschlossen!")
-                    break
-            except socket.timeout:
-                time.sleep(0.05)
-
-    def _write(self, message):
-        self.sock.sendall(message.encode('utf-8'))
-        
-    def stop(self):
-        self.running.clear()
-        self.join()
-        self.sock.close()

README.md

@@ -4,15 +4,7 @@
 **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.
 
-**Quick Start**
+**Setup Dependencies and Virtual Enviroment**
-- **Simulation**: enable the simulator in `config.py` by setting `sim = True`, then run:
-
-```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`.
-
-**Dependencies**
 - **Python packages**: At minimum the project uses `numpy`, `pygame`, `ikpy`, `pybullet`, `pyserial`, and `matplotlib`.
 - **Install** (recommended inside a venv):
 
@@ -22,6 +14,14 @@ source .venv/bin/activate
 pip install numpy pygame ikpy pybullet pyserial matplotlib
 ```
 
+**Quick Start**
+- **Simulation**: enable the simulator in `config.py` by setting `sim = True`, then run:
+
+```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.

config.py

@@ -7,7 +7,7 @@ esp32_port = 3323
 
 timeout = 2.0
 
-sim: bool = False
+sim: bool = True
 arduinoConnection: bool = False
 urdf_path = "JackBotUrdf.urdf"