DD-BoatMoiLesFesses

Project Description

We had to program the guidance of a boat using python. Here, you can find all the .py modules which enable us to guide the boat. In the drivers folder, all the programs that control Arduino and sensors are presented

General Information

Project Status

100% all tasks done

Work in Progress

Last work done : following a circle using a Kalman filter

Work Done

• Calibration of the compass.
• Following of a heading, for example 70° from the starting point.
• Following a triangle using linearized GPS coordinates.
• Following a circle using feedback linearization and Kalman filter.

Dependencies

You need the drivers folder, and the roblib.py file.

How to use the code ?

You have to use the shell to connect yourself to the boat using a SSH protocol :

$ ssh [email protected]
$ ue32
$ cd ddboatmoilesfesses
$ python3 whatever_you_want.py

The file heading_command.py enables you to follow a gps coordinate, you can just run main.py to execute it.