{"id":17039046,"url":"https://github.com/dcnick3/cablerobot","last_synced_at":"2025-09-25T12:05:43.816Z","repository":{"id":107291889,"uuid":"145994904","full_name":"DCNick3/CableRobot","owner":"DCNick3","description":"Trajectory planner and controller software for Cable robot in Innopolis University","archived":false,"fork":false,"pushed_at":"2018-08-24T18:41:57.000Z","size":681,"stargazers_count":3,"open_issues_count":1,"forks_count":1,"subscribers_count":1,"default_branch":"master","last_synced_at":"2025-03-22T23:44:55.139Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"C#","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"gpl-3.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/DCNick3.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2018-08-24T13:28:19.000Z","updated_at":"2024-02-15T18:19:24.000Z","dependencies_parsed_at":null,"dependency_job_id":"38e667bd-fca5-4b2b-94aa-9a05f025ab89","html_url":"https://github.com/DCNick3/CableRobot","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/DCNick3/CableRobot","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/DCNick3%2FCableRobot","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/DCNick3%2FCableRobot/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/DCNick3%2FCableRobot/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/DCNick3%2FCableRobot/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/DCNick3","download_url":"https://codeload.github.com/DCNick3/CableRobot/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/DCNick3%2FCableRobot/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":276913560,"owners_count":25727156,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-09-25T02:00:09.612Z","response_time":80,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-10-14T08:58:30.089Z","updated_at":"2025-09-25T12:05:43.778Z","avatar_url":"https://github.com/DCNick3.png","language":"C#","funding_links":[],"categories":[],"sub_categories":[],"readme":"# CableRobot\n\nCableRobot is trajectory planner and execution controller for cable robot in Innopolis University\n\nDepends on OmronFinsUDP.Net library\n\nHas basic support of hpgl file format (`HpglParser.cs`) and VERY basic support of SVG format (`SvgParser.cs`)\n\nAlso this introduces own vector file format (an intermediate one) - CRC. `CableRobotTrajectories` contains some samples of such files\n\n![ryzen](screenshots/controller_ryzen.png)\n\n![composition](screenshots/trajectory_composition.png)\n\n# A brief algorithm of work:\n\n- Stage 1, `TrajectoryForm.cs`\n\t0. Parse Svg or Hpgl and convert it to crc\n\t\n\t1. Parse Crc to Commands (`CrcParser.cs`, `Command.cs` and `CommandType.cs`)\n\n\t2. Convert commands to robot movements (coordinates) (`CoordinateComputer.cs`)\n\n\t3. Use inverse kinematics to compute Angles of motors for points (`InverseKinematicsComputer.cs`) (!BROKEN!)\n- Stage 2, `RobotControllerForm.cs`\n\t1. Use OmronFinsUDP.Net library to write these angles to robot (`RobotController.cs`, `AngleSender.cs`)\n\n# Extra notes\n\n## High CPU comsumtion on Windows\n\nIf you are running windows this program will use busy sleep to improve timings\n\n## The math is (most probably) broken\n\nThere were no enough time to test and debug program, but `InverseKinematicsComputer.cs` does something wrong. Use some matlab models to test it before running on real robot\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fdcnick3%2Fcablerobot","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fdcnick3%2Fcablerobot","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fdcnick3%2Fcablerobot/lists"}