guoyu07 / rpimapper

A mobile robotics platform for mapping an environment using an occupancy grid

RPiMapper

Welcome to the GitHub Repo for the RPiMapper Project. Here's a quick run down of where everything is and how to get started.

Folder	Contents
Matlab	Contains the code that runs on the host computer
docs	Project website files
socketDemo	Quick demo showing socket communications between two computer
socket_stream	Contains the code that runs on the Raspberry Pi
sonarMain	Contains the code that runs on the Arduino

Getting Started

On the Raspberry Pi

1. Clone the repo https://github.com/awadell1/RPiMapper.git
2. cd into /socke_stream
3. Run bash compile.sh to compile the source code with gcc
4. Start the control program with ./socketStream

On the host computer:

1. Install MATLAB (Developed on 2016a) and Arduino IDE
2. Clone the repo https://github.com/awadell1/RPiMapper.git
3. Using the Arduino IDE write sonarMain.ino (It's in /sonarMain) to the Arduino nano.
4. Open the /Matlab directory in MATLAB
5. Connect to the robot using robot = Robot(ROBOT IP ADDRESS HERE)
6. Enter freedriveProgram into the console to start the mapping program
7. Use your arrow keys to move around and watch as RPiMapper maps the envirorment

You should now be able to drive RPiMapper and while mapping your envirorment.