renaming oquam to romi-cnc

romi · Apr 20, 2024 · c8208f3 · c8208f3
1 parent 7f51c95
commit c8208f3
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Showing 14 changed files with 125 additions and 4 deletions.
diff --git a/applications/CMakeLists.txt b/applications/CMakeLists.txt
@@ -13,7 +13,7 @@ add_subdirectory(romi-rover)
 add_subdirectory(rcdiscover)
 add_subdirectory(romi-remote-client)
 add_subdirectory(batterymonitor)
-add_subdirectory(oquam)
+add_subdirectory(romi-cnc)
 add_subdirectory(romi-camera)
 add_subdirectory(romi-cablebot)
 add_subdirectory(romi-config)

diff --git a/applications/oquam/CMakeLists.txt → applications/romi-cnc/CMakeLists.txt b/applications/oquam/CMakeLists.txt → applications/romi-cnc/CMakeLists.txt
@@ -1,14 +1,14 @@
 cmake_minimum_required(VERSION 3.10)
-project(oquam)
+project(romi-cnc)
 
 set(SOURCES
   main.cpp
   OquamFactory.cpp
   OquamFactory.h
   )
 
-add_executable(oquam ${SOURCES})
-target_link_libraries(oquam romi romiserial)
+add_executable(romi-cnc ${SOURCES})
+target_link_libraries(romi-cnc romi romiserial)
 
 #add_subdirectory(test)
 

diff --git a/applications/oquam/OquamFactory.cpp → applications/romi-cnc/OquamFactory.cpp b/applications/oquam/OquamFactory.cpp → applications/romi-cnc/OquamFactory.cpp
diff --git a/applications/oquam/OquamFactory.h → applications/romi-cnc/OquamFactory.h b/applications/oquam/OquamFactory.h → applications/romi-cnc/OquamFactory.h
diff --git a/applications/oquam/Readme.md → applications/romi-cnc/Readme.md b/applications/oquam/Readme.md → applications/romi-cnc/Readme.md
diff --git a/applications/oquam/docs/path.csv → applications/romi-cnc/docs/path.csv b/applications/oquam/docs/path.csv → applications/romi-cnc/docs/path.csv
diff --git a/applications/oquam/docs/path1.svg → applications/romi-cnc/docs/path1.svg b/applications/oquam/docs/path1.svg → applications/romi-cnc/docs/path1.svg
diff --git a/applications/oquam/docs/path2.svg → applications/romi-cnc/docs/path2.svg b/applications/oquam/docs/path2.svg → applications/romi-cnc/docs/path2.svg
diff --git a/applications/oquam/docs/path3.svg → applications/romi-cnc/docs/path3.svg b/applications/oquam/docs/path3.svg → applications/romi-cnc/docs/path3.svg
diff --git a/applications/oquam/docs/path4.svg → applications/romi-cnc/docs/path4.svg b/applications/oquam/docs/path4.svg → applications/romi-cnc/docs/path4.svg
diff --git a/applications/oquam/docs/path5.svg → applications/romi-cnc/docs/path5.svg b/applications/oquam/docs/path5.svg → applications/romi-cnc/docs/path5.svg
diff --git a/applications/oquam/docs/path6.svg → applications/romi-cnc/docs/path6.svg b/applications/oquam/docs/path6.svg → applications/romi-cnc/docs/path6.svg
diff --git a/applications/oquam/main.cpp → applications/romi-cnc/main.cpp b/applications/oquam/main.cpp → applications/romi-cnc/main.cpp
diff --git a/config/cablebot-v2-dev.json b/config/cablebot-v2-dev.json
@@ -0,0 +1,121 @@
+{
+    "cablebot": {
+        "camera": {
+            "remote-camera": {
+                "topic": "camera"
+            },
+            "type": "remote-camera"
+        }
+    },
+    "camera": {
+        "calibration": {
+            "date": "2023-08-05",
+            "method": "charuco",
+            "person": "hanappe"
+        },
+        "distortion": {
+            "type": "simple-radial",
+            "values": [
+                -0.4928269684314728,
+                -0.4928269684314728
+            ]
+        },
+        "external-camera": {
+            "executable": "/home/hanappe/projects/ROMI/github/rover/romi-rover-build-and-test/applications/romi-cablebot/vgrabbj/grab.sh",
+            "height": 1080,
+            "width": 1920
+        },
+        "fake-camera": {},
+        "id": "camera-cablebot-01",
+        "intrinsics": {
+            "cx": 1014.0,
+            "cy": 760.0,
+            "fx": 2200.0,
+            "fy": 2200.0
+        },
+        "lens": "CCTV Lens 6mm IR 3MP HD",
+        "name": "Raspbery Pi HQ GS Camera V1.0",
+        "sensor": {
+            "dimensions": [
+                0.0050232,
+                0.0037536
+            ],
+            "resolution": [
+                1456,
+                1088
+            ]
+        },
+        "type": "external-camera"
+    },
+    "device": {
+        "hardware-id": "001",
+        "type": "CablebotV3"
+    },
+    "oquam": {
+        "-controller-classname": "stepper-controller",
+        "cnc-range": [
+            [
+                0,
+                11
+            ],
+            [
+                0,
+                0
+            ],
+            [
+                0,
+                0
+            ]
+        ],
+        "controller-classname": "fake-cnc-controller",
+        "homing": {
+            "axes": [
+                0,
+                -1,
+                -1
+            ],
+            "mode": 1
+        },
+        "path-maximum-deviation": 0.01,
+        "path-slice-duration": 0.02,
+        "stepper-settings": {
+            "displacement-per-revolution": [
+                0.377,
+                0,
+                0
+            ],
+            "gears-ratio": [
+                15.3,
+                1,
+                1
+            ],
+            "maximum-acceleration": [
+                0.15,
+                0,
+                0
+            ],
+            "maximum-rpm": [
+                300,
+                300,
+                300
+            ],
+            "microsteps": [
+                1,
+                1,
+                1
+            ],
+            "steps-per-revolution": [
+                200,
+                200,
+                200
+            ]
+        }
+    },
+    "ports": {
+        "oquam": {
+            "port": "/dev/ttyACM0",
+            "type": "serial"
+        }
+    },
+    "test": 4
+}