Usage on Windows
- Install winpcap
- Clone this repository
- Using cmake-gui try to configure
- To eliminate the errors
- give a writeable CMAKE_INSTALL_PREFIX folder, like "your binary folder"/install
- choose "Download all" for Policy_ALL_3RD_PARTIES
- give the path of your installed MATLAB (e.g. "C:\Program Files\MATLAB\R2022b")
Configure again (it can take some time because of the build&install of the third parties)
- Generate, open project, build and have fun!
The tester project is an executable to show the functionality.
The youbotarmmanager produces a matlab function. By building and installing the project, it will produce a matlab app in the install/MATLAB folder that is able to perform joint angle control.
The project is now in proof of concept state!
Later directions:
- driver for the gripper, and the base wheels
- cmake development for real time linux and the corresponding threads
- Jacobian-based Cartesian space methods to move the arm
- profileing and optimising the project
- making commute, calibration, etc. methods more robust