Decentralized Controller

From HotDec

Code

The decentralized controller code is located at

1. For the leading hovercraft - "/home2/zhedi/HOTDEC_Cntr/craft1"
2. For hovercraft2 - "/home2/zhedi/HOTDEC_Cntr/craft2"
3. For hovercraft3 - "/home2/zhedi/HOTDEC_Cntr/craft3"
4. For hovercraft4 - "/home2/zhedi/HOTDEC_Cntr/craft4"

How to run

1. Copy "test2", "estimator" and "t23.ko" onto SBC
2. Run "/etc/init.d/rtai start" to load rtai
3. Run "insmod t23.ko" to insert module
4. Open two windows for each hovercraft
5. For the first hovercraft, run "./estimator" in one window and run "test2 --bt/--wlan craftID Num_of_Followers" in the other window
6. For the second, third and fourth hovercrafts, run "./estimator" in one window and run "test2 --bt/--wlan craftID number_of_leaders number_of_followers" in the other window
   1. craftID is the index of hovercraft top
   2. For vehicle string, "number_of_leaders" is 1 and "number_of_followers" is 1
   3. After you enter "test2 --wlan craftID number_of_leaders number_of_followers", it will ask you to input "top" number of its leader and the last digit of "IP" address of its follower

Applet

1. You can open applet by typing "tale.mechse.uiuc.edu/applet" in web browser
2. Hit "connect" and then "Toggle Floor View"
3. Click on any hovercraft and click "lift on" to turn on the controller and lifting fan
4. Figure 8 and other trajectory options are located at the right-hand side of applet. You can choose one of them and hit "Start Control"
   1. To run Figure 8, first you need to choose and run "Preset for figure 8"