JackM323
c5ca79a354
Training environment to make a walk model for the hexapod generated code that will be checked
109 lines
2.9 KiB
Markdown
109 lines
2.9 KiB
Markdown
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# JackBot — Hexapod Control & Simulation
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JackBot is a Python project for controlling and simulating a six-legged hexapod robot.
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It uses IKPy for inverse kinematics, PyBullet for optional simulation, and can send joint commands to ESP32 or Arduino hardware.
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## Requirements
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- Python 3.12 is safest for `pygame` compatibility
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- Required Python packages:
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- `numpy`
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- `pygame`
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- `ikpy`
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- `pybullet`
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- `pyserial`
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- `matplotlib`
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## Setup
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### Linux (Bash)
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```bash
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python3.12 -m venv .venv
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source .venv/bin/activate
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python -m pip install --upgrade pip setuptools wheel
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pip install -r requirements.txt
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```
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### Windows (PowerShell)
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```powershell
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python3.12 -m venv .venv
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.\.venv\Scripts\Activate.ps1
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python -m pip install --upgrade pip setuptools wheel
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pip install -r requirements.txt
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```
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If PowerShell blocks activation:
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```powershell
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Set-ExecutionPolicy -Scope Process -ExecutionPolicy RemoteSigned
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.\.venv\Scripts\Activate.ps1
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```
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## Run
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From the repository root:
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```
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python main.py
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```
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If Linux breaks with
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```
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ExampleBrowserThreadFunc started
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X11 functions dynamically loaded using dlopen/dlsym OK!
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cannot connect to X server
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```
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run:
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```
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export DISPLAY=:0
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python main.py
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```
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## Configuration
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Edit `config.py` before running:
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- `sim = True` to enable PyBullet simulation
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- `sim = False` to use hardware control
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- `arduinoConnection = True` to use Arduino
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- `arduinoConnection = False` to use ESP32
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- `port` and `baudrate` for Arduino
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- `esp32_ip` and `esp32_port` for ESP32
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- `urdf_path = "JackBotUrdf.urdf"`
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## Project structure
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- `main.py` — main application entry point
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- `Controller.py` — Pygame-based controller and input display
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- `kinematics.py` — IKPy forward/inverse kinematics
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- `simulation.py` — PyBullet simulation wrapper
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- `GlobalVariables.py` — shared runtime state and comms
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- `DataTypes.py` — typed arrays and control intent
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- `RobotState/idle.py` — idle robot state
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- `RobotState/walking.py` — walking robot state
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- `EspCommunication.py` — ESP32 communication
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- `ArduinoCommunication.py` — Arduino communication
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- `JackBotUrdf.urdf` — robot model file
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## Notes
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- `GlobalVariables.py` initializes either `Simulation()` or the selected hardware comm class.
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- `DataTypes.py` declares `PosArray`, `DegArray`, `RadArray`, `RobotCommand`, and `ControlIntent`.
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- `Controller.py` updates `gv.vector_dirmov` and `gv.robot_state` from joystick input.
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- `kinematics.py` loads leg chains from `JackBotUrdf.urdf` and computes IK.
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## Troubleshooting
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- If `pygame` installation fails on Windows, use Python 3.12 and upgrade `pip setuptools wheel` first.
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- If `python` is not found on Windows, install Python and enable "Add Python to PATH".
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- If the program crashes on startup, verify `JackBotUrdf.urdf` path and `config.py` settings.
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## Suggested improvements
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- Add a `requirements.txt` or `pyproject.toml`.
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- Add a `LICENSE` file before sharing the project.
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- Document hardware wiring and packet formats for ESP32/Arduino. |