This project is part of Toradex Self-balancing bot demo (LINKPLACEHOLDER) presented at Embedded World 2024.
It consists of 2 parts, a front-end and a back-end.
The front end is a Qt aplication with a the robot face and some simple expressions
The back end is a Qt websocket server, that receives data from a controller (to move the robot manually) and from a gyro+accel device (for the feedback controle).
There's a simple logic example implemented to control the robot face given the velocity reading.
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Get the docker-compose file
wget https://raw.githubusercontent.com/Allan-Kamimura/EW2024-qtface/main/face.yml
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Run main
docker compose -f qt-face.yml up -d
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(optional) Run with parameters, those are the default values
ADDRESS=0.0.0.0:8000 v1=-7 v2=-3 v3=0 v4=3 v5=7 stepsIn10s=10 delaytime=8000 docker-compose -f face.yml up -d
The "v" stands for velocity thresholds:
v1 < v2 < v3 < v4 < v5
-> sets the default expressionv0 v1 v2 v3 v4 v5 v6 maluco sad happy sapecao angry maluco
The container mounts ~/:~/
and logs are saved to ~/