Industrial Software Development for Engineers / C++

This repo contains the code of my practical course "Industrial Software Development for Engineers / C++". The code were edited with the IDE Eclipse C/C++ on the Ubuntu OS. The project consists of the following three parts:

01: Fundamentals of C++ programming

Tag1: Data type, string, pointer, reference, static/dynamic storage reservation.
Tag2: OOP: class, overload, override, inheritance.
Tag3: Recursion, data read and write from the file, try-catch block, list.

02: Keyboard control of a simulated robot

Due to the COVID-19 pandemic, this project was organized online. Instead of the hardware things, the robot was simulated using Unity engine. Anyway, having a glance at the robot's hardware structure helps to understand our following works:

Fig 1. The hardware structure and the rendered simulation of "MoonRover" robot

To whom wants to replicate this project:
All the required libraries (ncurses, jsoncpp, rt ...) and the "MoonRover" simulation program were already provided by the tutor in the virtual machine Ubuntu_IDE_SEFI_Online. If you are interested in this project and want to replicate it, it is recommended to edit and run the codes on this virtual machine using VMware Player. (download “Ubuntu_IDE_SEFI_Online”).

Tag4:
The task of this part is to control the robot with the keyboard input. We have to create a class <KeyboardControl> to establish the data stream between the user and the robot. It contains two methods: Communicate() and Step(). The structure of KeyboardControl seeing below:

Fig 2. The concept of the class KeyboardControl

In the method Communicate() we use the library ncurses to get the keyboard input from the user. The class <InterfaceSIM> was provided by the tutor, which is used to transmit data between the method Step() and the robot. Finally, we created a controller class <PIDCtrl> to make the robot follow the command smoothly.

Demo Tag4:



commands:

input	action
'w', 'a', 's', 'd'	directions
'b'	brake
'q'	quit the control panel

03: Maneuver control of a simulated robot

Tag5:
The task of this part is to control the robot with two generated maneuvers: a circle trajectory and an 8-shaped trajectory. Besides the given class <InterfaceSIM> there are four more classes to write:

<PosEstimation>:
calculate the current actual value of the position array x = (x, y, w) using the current speed and the position values stored by the previous timestep.

<Maneuver>:
serves both the calculation of the coordinates of the maneuver, as well as the calculation of the target speeds to reach the next point of the coordinate list. There are two kinds of maneuvers: circle track and '8'-shape track.

Fig 3. Alignment of the coordinate system during initialization and robot during driving

<PIDCtrl>:
provides a PID controller that adjusts the actual value to the target value smoothly.

<RobotControl>:
the "master class". It manages the call of the functions of each class at the right time and is similar to the <KeyboardControl> class of the previous part. It initializes objects of the respective classes, has an interface for communication with the user (Communicate()) and provides the interface with a function for iterative calculation of the calculated maneuver (Step()).

Here is an overview of the entire architecture:

Fig 4. The class diagrams of the maneuver control task

Demo Tag5:
commands: [1]: start; [2]: stop; [3]: proceed.

circle trajectory	8-shaped trajectory
Radius = 0.5m	Radius = 0.3m
Speed = 0.3m/s	Speed = 0.3m/s

For more detailed tutorials, please check the script 2022-03-27_SEPR_Skript.pdf (in German language).
Copyright © AIS, TUM 2022