A motion controller for the VIAM Rover V1 written in C++.

This program is intended to run on a Raspberry Pi.

• lcm for interprocess-communication (locally or between machines)
• lgpio for controlling the Pi pins
• libevdev-devel for building the joypad application.

To compile:

mkdir build
cd build

CMake Options:

• USE_LGPIO: Compiles the components that use lgpio for interfacing with the Pi pins.

cmake <add your desired options here> ..
make [or make install if you want install the modules in a known path]

To run modules:

cd build

To launch the Rover module, run

./Rover/rover [--sim or --rover]

Use --sim if you want ro just emulate the hardware, --rover if you are on the Pi and using the GPIO (and therefore you have enabled the compilation with USE_LGPIO).

To launch the JoypadControl module, run

./JoypadControl/joypad-control-rover