User interface

The user interface can configure and run the robot, as well as inspecting almost all values on the robot. Written in python using Qt GUI library.

The min interface looks like this.

The GUI allows to make step responses for velocity and turn. The step response is recorded in a buffer on the robot and is fetched in a MATLAB style file (as shown). Interface points that are recorded can be switched on and off to better utilize the limited buffer size on the robot (35kBytes).

This is a page to make a step response and insert controller values for velocity control. The same controller is used for both wheels.