https://github.com/simone-contorno/arp-interactive-simulator

Advanced Robot Programming (ARP) - Interactive simulator of hoist with 2 d.o.f.
https://github.com/simone-contorno/arp-interactive-simulator

c engineering robotics

Last synced: 3 months ago
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Advanced Robot Programming (ARP) - Interactive simulator of hoist with 2 d.o.f.

• Host: GitHub
• URL: https://github.com/simone-contorno/arp-interactive-simulator
• Owner: simone-contorno
• Created: 2021-11-07T11:06:41.000Z (over 4 years ago)
• Default Branch: main
• Last Pushed: 2022-04-04T08:46:00.000Z (over 4 years ago)
• Last Synced: 2025-10-30T22:24:03.867Z (8 months ago)
• Topics: c, engineering, robotics
• Language: C
• Homepage: https://github.com/simone-contorno/ARP-Interactive-Simulator
• Size: 140 KB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
# Advanced and Robot Programming - Interactive simulator of hoist with 2 d.o.f.

## Author: Simone Contorno




### Introduction

An overview of this program function.


[Go to Introduction](#intro)

### How it works

A rapid description of how the program works.


[Go to How it works](#how)

### Installation and Execution

How install and run this program in Linux.


[Go to Installation and Execution](#installation)

### Conclusion

Conclusion.


[Go to Conclusion](#con)



### Introduction

This program test and deploy an interactive simulator of hoist with 2 d.o.f., 

in which two different consoles allow the user to activate the hoist.


In the octagonal box there are two motors motor_x and motor_z, 

which displace the hoist along the two respective axes.


Motions along axes have their bounds.


From the user side there are two consoles (shell windows) and keys with different aims, 

that simulate a real system.



### How it works

There are 5 processes that work as follow:



    


command console: reads 6 commands typed in the shell window from the user; 

    the commands are:

    


        
X axis increase;

        
X axis decrease;

        
X axis stop;

        
Z axis increase;

        
Z axis decrease;

        
Z axis stop.

    

    

    


inspection console: receives from motors the hoist positions while it moves, 

    and reports them on the screen; reads 6 commands typed in the shell window from the user:

    


        
S: emergency stop, the joist stops immediately until a command from the first console arrives;

        
R: reset, the joint stops, both axes go to a zero position and wait for commands.

    

    

    


motor x: simulates the motion along x axis, receives command and sends back the real time position.

    


motor z: simulates the motion along z axis, receives command and sends back the real time position.

    


watchdog: checks the previous 4 processes periodically, and sends a reset (like the R command) in

    case all processes did nothing (no computation, no motion, no input/output) for a certain time.



The motor process simulates the constant speed motion, including a simple error in position

measurement. They receives a command (move, stop, go to zero position), acts, sends back a position

estimate, stops when the end displacement is reached. 



### Installation and Execution

Download the repository:

git clone https://github.com/simone-contorno/arp-interactive-simulator


After, go into the directory and make executable all .sh files:

chmod +x install.sh run.sh help.sh


To compile the source files, type:

./install.sh


Now, to exec the program, type:

./run.sh 


If you want read some specific description about a process, type:

./help.sh < number >


where < number > is the corresponding process text file description.



### Conclusion

Thanks to have read this file, i hope it was clear and interesting.





Collaborator: Gabriele Russo - @GabrieleRusso11