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stanbaek · Feb 29, 2024 · f492f80 · f492f80
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diff --git a/.buildinfo b/.buildinfo
@@ -1,4 +1,4 @@
-# Sphinx build info version 1
-# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
-config: f7fac6807dbc9a08f49d5b4b63bc1b9d
-tags: 645f666f9bcd5a90fca523b33c5a78b7
+# Sphinx build info version 1
+# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
+config: 8e797e08234635f9396beb70db152ca4
+tags: 645f666f9bcd5a90fca523b33c5a78b7
diff --git a/Appendix/GitSetup.html b/Appendix/GitSetup.html
diff --git a/Appendix/MasterSetup.html b/Appendix/MasterSetup.html
diff --git a/Appendix/RobotSetup.html b/Appendix/RobotSetup.html
diff --git a/Module00.0_IntroductionGIT/IntroGit.html b/Module00.0_IntroductionGIT/IntroGit.html
diff --git a/Module00.1_RobotSetup/RobotSetup.html b/Module00.1_RobotSetup/RobotSetup.html
diff --git a/Module00.2_MasterSetup/MasterSetup.html b/Module00.2_MasterSetup/MasterSetup.html
diff --git a/Module10_FinalProject/FinalProject.html b/Module10_FinalProject/FinalProject.html
diff --git a/Module1_ROS/ICE1_ListenerTalker.html b/Module1_ROS/ICE1_ListenerTalker.html
diff --git a/Module1_ROS/ROS.html b/Module1_ROS/ROS.html
diff --git a/Module2_Linux/Linux.html b/Module2_Linux/Linux.html
diff --git a/Module3_Python3/ICE3_ClientServer.html b/Module3_Python3/ICE3_ClientServer.html
diff --git a/Module3_Python3/Python3.html b/Module3_Python3/Python3.html
diff --git a/Module3_Python3/ROS.html b/Module3_Python3/ROS.html
diff --git a/Module3_Python3/RPSComputer.html b/Module3_Python3/RPSComputer.html
diff --git a/Module4_DrivingTheRobot/DrivingTheRobot.html b/Module4_DrivingTheRobot/DrivingTheRobot.html
diff --git a/Module4_DrivingTheRobot/ICE4_DrivingTheRobot.html b/Module4_DrivingTheRobot/ICE4_DrivingTheRobot.html
diff --git a/Module5_CustomMessages/CustomMessages.html b/Module5_CustomMessages/CustomMessages.html
diff --git a/Module5_CustomMessages/Lab1_CustomMessages.html b/Module5_CustomMessages/Lab1_CustomMessages.html
diff --git a/Module6_IMU/IMU.html b/Module6_IMU/IMU.html
diff --git a/Module6_IMU/Lab2_IMU.html b/Module6_IMU/Lab2_IMU.html
diff --git a/Module7_LaunchFile/LaunchFile.html b/Module7_LaunchFile/LaunchFile.html
diff --git a/Module8_LIDAR/LIDAR.html b/Module8_LIDAR/LIDAR.html
diff --git a/Module8_LIDAR/Lab3_LIDAR.html b/Module8_LIDAR/Lab3_LIDAR.html
diff --git a/Module9_CV/Lab4_ComputerVision.html b/Module9_CV/Lab4_ComputerVision.html
diff --git a/Module9_CV/computer_vision.html b/Module9_CV/computer_vision.html
diff --git a/_downloads/3a3cd348ff4a2bc81ddea473f4ae906f/burger_usbcam_mount.stl b/_downloads/3a3cd348ff4a2bc81ddea473f4ae906f/burger_usbcam_mount.stl
diff --git a/_downloads/6fe569f9320a6bd641887792fd967ce2/turtlebot_controller.py b/_downloads/6fe569f9320a6bd641887792fd967ce2/turtlebot_controller.py
@@ -1,58 +1,58 @@
-#!/usr/bin/env python3
-
-#TODO 1 Modify this header so that the correct information is displayed
-#Name
-#Name of code
-#For lab1, this will subscribe to mouse_client and publish to cmd_vel
-#Will convert messages of type MouseController to Twist
-#Deactivates when mouse wheel is scrolled up 
-#last modified DATE 2023
-
-
-import rospy
-#TODO 2 Import the appropriate message types that we will need
-
-
-class Controller:
-	"""Class that controls subsystems on Turtlebot3"""
-	def __init__(self):
-		#TODO 3 initialize the appropriate Controller class attributes
-
-
-
-
-		self.pub = rospy.Publisher('cmd_vel', Twist, queue_size = 1)
-
-		rospy.Subscriber('mouse_info', MouseController, self.callback_mouseControl)
-
-		self.ctrl_c = False
-		rospy.on_shutdown(self.shutdownhook)
-
-	def callback_mouseControl(self, mouseInfo):
-		#TODO 4 Scale xPos from -1 to 1 to -.5 to .5
-
-		#TODO 5 set angular z in Twist message to the scaled value in the appropriate direction
-
-		#TODO 6 Scale yPos from -1 to 1 to -.5 to .5
-
-		#TODO 7 set linear x in Twist message to the scaled value in the appropriate direction
-
-		#TODO 8 publish the Twist message
-
-
-
-	def shutdownhook(self):
-		print("Controller exiting. Halting robot.")
-		self.ctrl_c = True
-		#TODO 9 force the linear x and angular z commands to 0 before halting
-
-
-		self.pub.publish(self.cmd)
-
-
-
-
-if __name__ == '__main__':
-	rospy.init_node('controller')
-	c = Controller()
+#!/usr/bin/env python3
+
+#TODO 1 Modify this header so that the correct information is displayed
+#Name
+#Name of code
+#For lab1, this will subscribe to mouse_client and publish to cmd_vel
+#Will convert messages of type MouseController to Twist
+#Deactivates when mouse wheel is scrolled up 
+#last modified DATE 2023
+
+
+import rospy
+#TODO 2 Import the appropriate message types that we will need
+
+
+class Controller:
+	"""Class that controls subsystems on Turtlebot3"""
+	def __init__(self):
+		#TODO 3 initialize the appropriate Controller class attributes
+
+
+
+
+		self.pub = rospy.Publisher('cmd_vel', Twist, queue_size = 1)
+
+		rospy.Subscriber('mouse_info', MouseController, self.callback_mouseControl)
+
+		self.ctrl_c = False
+		rospy.on_shutdown(self.shutdownhook)
+
+	def callback_mouseControl(self, mouseInfo):
+		#TODO 4 Scale xPos from -1 to 1 to -.5 to .5
+
+		#TODO 5 set angular z in Twist message to the scaled value in the appropriate direction
+
+		#TODO 6 Scale yPos from -1 to 1 to -.5 to .5
+
+		#TODO 7 set linear x in Twist message to the scaled value in the appropriate direction
+
+		#TODO 8 publish the Twist message
+
+
+
+	def shutdownhook(self):
+		print("Controller exiting. Halting robot.")
+		self.ctrl_c = True
+		#TODO 9 force the linear x and angular z commands to 0 before halting
+
+
+		self.pub.publish(self.cmd)
+
+
+
+
+if __name__ == '__main__':
+	rospy.init_node('controller')
+	c = Controller()
 	rospy.spin()
diff --git a/_downloads/cb5daeab4a0e775f3d6d21655764a2e9/mouse_client_OO.py b/_downloads/cb5daeab4a0e775f3d6d21655764a2e9/mouse_client_OO.py
@@ -1,109 +1,109 @@
-#!/usr/bin/env python3
-
-#TODO 0 Update the header below with your information
-#Name
-#ROS Enabled mouse client 
-#Activates when mouse wheel is scrolled down and 
-#Deactivates when mouse wheel is scrolled up 
-#last modified 8 Jan 2023
-#mouse_client.py
-
-import rospy
-import pyautogui
-import sys
-import time
-import os
-from pynput.mouse import Listener
-# TODO 1 Import the lab1 message file you created for the Mouse Controller data
-
-
-#Initialize global variable that will keep track of mouse button status
-global activate
-activate = False
-
-
-#get dimensions of screen so that we can scale for (-1,1) in both x and y
-xDim,yDim = pyautogui.size()
-
-class Mouse:
-    def __init__(self):
-        global activate
-        listener = Listener(on_move=self.on_move, on_click=self.on_click, on_scroll=self.on_scroll)
-        listener.start()
-        self.ctrl_c = False
-        rospy.on_shutdown(self.shutdownhook)
-
-        # TODO 2 Create class variables to store activation status, and x and y position
-        # Initialize the controller status to False, and in the center of the screen
-
-        # TODO 3 Create a publisher to publish MouseController data on the mouse_info topic
-
-
-
-    # Handle the event of the user moving the mouse    
-    def on_move(self,x,y):
-        #We need to establish the use of the global variable for button activation
-        global activate
-
-
-        if(activate == False):
-            messageString = "No movement sent, activate cursor first by scrolling down on the mouse wheel"
-            print(messageString, end='')
-            # overwrite same line
-            print('\b' *len(messageString), end='', flush=True)
-            xScale = 0.0
-            yScale = 0.0
-        else:
-            # Use the dimensions of the monitor to convert output into x & y between -1 and 1
-            xScale = ((x/(xDim/2))-1)
-            yScale = -((y/(yDim/2))-1)
-            xFormat = "{:+.3f}".format(xScale)
-            yFormat = "{:+.3f}".format(yScale)
-            # create 19 byte message with x,y coordinates embedded and print to screen
-            positionStr = 'X: ' + str(xFormat) + ' Y: ' + str(yFormat) + "                                                           "
-            print(positionStr, end='')
-            # overwrite same line
-            print('\b' *len(positionStr), end='', flush=True)
-        # TODO 4 Update the appropriate class variables and publish
-
-
-    #Currently I'm not doing anything with the button click.
-    #Eventually we could add additional modes if we wanted to.
-    def on_click(self,x,y,button,pressed):
-        pass
-
-    # Handle the event of the user using the scroll wheel on the mouse    
-    def on_scroll(self,x,y,dx,dy):
-        global activate
-        if dy == 1:
-            os.system("clear")
-            print("Welcome to the mouse controller!\n\n")
-            print("In order to ACTIVATE the controller scroll down on the mouse wheel.\n\n")
-            print("In order to DEACTIVATE the controller scroll up on the mouse wheel.\n\n") 
-            print("To close the program, left-click on the terminal window and type ctrl-c.\n\n")
-            activate = False
-        if dy == -1:
-            activate = True
-        # TODO 5 Update the appropriate class variables and publish
-
-
-    # Handle the event of the user pressing ctrl_c        
-    def shutdownhook(self):
-        # TODO 6 Update the appropriate class variables and publish before shutdown
-
-
-        print("Shutting down the client                                                      ")
-        self.ctrl_c = True
-
-
-
-
-if __name__ == "__main__":
-    os.system("clear")
-    print("Welcome to the mouse controller!\n\n")
-    print("In order to ACTIVATE the controller scroll down on the mouse wheel.\n\n")
-    print("In order to DEACTIVATE the controller scroll up on the mouse wheel.\n\n") 
-    print("To close the program, left-click on the terminal window and type ctrl-c.\n\n")
-    rospy.init_node('Mouse')
-    Mouse()
+#!/usr/bin/env python3
+
+#TODO 0 Update the header below with your information
+#Name
+#ROS Enabled mouse client 
+#Activates when mouse wheel is scrolled down and 
+#Deactivates when mouse wheel is scrolled up 
+#last modified 8 Jan 2023
+#mouse_client.py
+
+import rospy
+import pyautogui
+import sys
+import time
+import os
+from pynput.mouse import Listener
+# TODO 1 Import the lab1 message file you created for the Mouse Controller data
+
+
+#Initialize global variable that will keep track of mouse button status
+global activate
+activate = False
+
+
+#get dimensions of screen so that we can scale for (-1,1) in both x and y
+xDim,yDim = pyautogui.size()
+
+class Mouse:
+    def __init__(self):
+        global activate
+        listener = Listener(on_move=self.on_move, on_click=self.on_click, on_scroll=self.on_scroll)
+        listener.start()
+        self.ctrl_c = False
+        rospy.on_shutdown(self.shutdownhook)
+
+        # TODO 2 Create class variables to store activation status, and x and y position
+        # Initialize the controller status to False, and in the center of the screen
+
+        # TODO 3 Create a publisher to publish MouseController data on the mouse_info topic
+
+
+
+    # Handle the event of the user moving the mouse    
+    def on_move(self,x,y):
+        #We need to establish the use of the global variable for button activation
+        global activate
+
+
+        if(activate == False):
+            messageString = "No movement sent, activate cursor first by scrolling down on the mouse wheel"
+            print(messageString, end='')
+            # overwrite same line
+            print('\b' *len(messageString), end='', flush=True)
+            xScale = 0.0
+            yScale = 0.0
+        else:
+            # Use the dimensions of the monitor to convert output into x & y between -1 and 1
+            xScale = ((x/(xDim/2))-1)
+            yScale = -((y/(yDim/2))-1)
+            xFormat = "{:+.3f}".format(xScale)
+            yFormat = "{:+.3f}".format(yScale)
+            # create 19 byte message with x,y coordinates embedded and print to screen
+            positionStr = 'X: ' + str(xFormat) + ' Y: ' + str(yFormat) + "                                                           "
+            print(positionStr, end='')
+            # overwrite same line
+            print('\b' *len(positionStr), end='', flush=True)
+        # TODO 4 Update the appropriate class variables and publish
+
+
+    #Currently I'm not doing anything with the button click.
+    #Eventually we could add additional modes if we wanted to.
+    def on_click(self,x,y,button,pressed):
+        pass
+
+    # Handle the event of the user using the scroll wheel on the mouse    
+    def on_scroll(self,x,y,dx,dy):
+        global activate
+        if dy == 1:
+            os.system("clear")
+            print("Welcome to the mouse controller!\n\n")
+            print("In order to ACTIVATE the controller scroll down on the mouse wheel.\n\n")
+            print("In order to DEACTIVATE the controller scroll up on the mouse wheel.\n\n") 
+            print("To close the program, left-click on the terminal window and type ctrl-c.\n\n")
+            activate = False
+        if dy == -1:
+            activate = True
+        # TODO 5 Update the appropriate class variables and publish
+
+
+    # Handle the event of the user pressing ctrl_c        
+    def shutdownhook(self):
+        # TODO 6 Update the appropriate class variables and publish before shutdown
+
+
+        print("Shutting down the client                                                      ")
+        self.ctrl_c = True
+
+
+
+
+if __name__ == "__main__":
+    os.system("clear")
+    print("Welcome to the mouse controller!\n\n")
+    print("In order to ACTIVATE the controller scroll down on the mouse wheel.\n\n")
+    print("In order to DEACTIVATE the controller scroll up on the mouse wheel.\n\n") 
+    print("To close the program, left-click on the terminal window and type ctrl-c.\n\n")
+    rospy.init_node('Mouse')
+    Mouse()
     rospy.spin()
diff --git a/_images/EdgeDet.png b/_images/EdgeDet.png
diff --git a/_images/GradEx2.png b/_images/GradEx2.png
diff --git a/_images/GradEx3.png b/_images/GradEx3.png
diff --git a/_images/GradTrig.png b/_images/GradTrig.png
diff --git a/_images/GradientEx.png b/_images/GradientEx.png
diff --git a/_images/Grayscale.JPG b/_images/Grayscale.JPG
diff --git a/_images/HOG_Features.JPG b/_images/HOG_Features.JPG
diff --git a/_images/HOG_Histogram.JPG b/_images/HOG_Histogram.JPG
diff --git a/_images/IMU.jpg b/_images/IMU.jpg
diff --git a/_images/LDS02.jpeg b/_images/LDS02.jpeg
diff --git a/_images/PixelCont.png b/_images/PixelCont.png
diff --git a/_images/RGB.JPG b/_images/RGB.JPG
diff --git a/_images/RGB_Gray.png b/_images/RGB_Gray.png
diff --git a/_images/RGB_Tuple.JPG b/_images/RGB_Tuple.JPG
diff --git a/_images/bot.PNG b/_images/bot.PNG
diff --git a/_images/callibrate.png b/_images/callibrate.png
diff --git a/_images/callibration.png b/_images/callibration.png
diff --git a/_images/camera_mount.jpg b/_images/camera_mount.jpg
diff --git a/_images/clone.PNG b/_images/clone.PNG
diff --git a/_images/fan.jpg b/_images/fan.jpg
diff --git a/_images/firmware.png b/_images/firmware.png
diff --git a/_images/installer1.png b/_images/installer1.png
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diff --git a/_images/lidarscan_example.png b/_images/lidarscan_example.png
diff --git a/_images/load.png b/_images/load.png
diff --git a/_images/mouse_info_topic.png b/_images/mouse_info_topic.png
diff --git a/_images/rectangle.png b/_images/rectangle.png
diff --git a/_images/rplidar.png b/_images/rplidar.png
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