Delta-Quad Control

Contains all code running on BeagleBone Black (or similar single board computer) to control the Delta-Quad.

Custom library for evaulating ANFIS
- Includes membership fucntions
inverseKinematics - evaluates the inverse kinematics of a single Delta-Leg using ANFIS
motion - some functions to move between two points
piecewiseMotion - generates various trajectories
servoCalibrate - a easy to use script to help calibrate the servos
socket_test - uses sockets to stream commands from external PC
Blynk - python API for Blynk
- blynk_test - shows example of how to use Blynk API for Python
main - final walking control of Delta-Quad

There are various .pkl files included in the repository. They are trained FIS structures that can be used to evaulate the Delta-Legs Kinematics

Install

BeagleBone Black

ANFIS

Name		Name	Last commit message	Last commit date
Latest commit History 124 Commits
.idea		.idea
membership		membership
myAnfis		myAnfis
.gitignore		.gitignore
Blynk.py		Blynk.py
README.md		README.md
blynk_test.py		blynk_test.py
deltaquad_12_full_12.png		deltaquad_12_full_12.png
fuzzy_log_test_table_90_270_5_epoch_20.pkl		fuzzy_log_test_table_90_270_5_epoch_20.pkl
fuzzy_log_test_table_90_270_5_epoch_30.pkl		fuzzy_log_test_table_90_270_5_epoch_30.pkl
fuzzy_log_test_table_90_270_5_epoch_40.pkl		fuzzy_log_test_table_90_270_5_epoch_40.pkl
fuzzycontrol_normal_3.pkl		fuzzycontrol_normal_3.pkl
fuzzycontrol_normal_4.pkl		fuzzycontrol_normal_4.pkl
inverseKinematics.py		inverseKinematics.py
main.py		main.py
motion.py		motion.py
piecewiseMotion.py		piecewiseMotion.py
servoCalibrate.py		servoCalibrate.py
servoControl.py		servoControl.py
socket_test.py		socket_test.py