Assignment 2

Source Code on GitHub

Two way communication between robot and computer

Command packets containing positions for each DOF of the robot are sent to the Raspberry Pi, which on receiving them prints out the received values, the same values doubled (as proof they can be parsed), and the bitrate of the transmission. Additionally, the Raspberry Pi sends an image to the computer 5 times per second (as if from a camera). The computer displays this image and prints the bitrate of the transmission and the frequency at which the images are received. The transmitted image is shown below, followed by a video of the programs running on the computer and on the Raspberry Pi (via SSH).