Merge branch 'main' of https://github.com/IngeniumTeam/Dozer24

README.md

@@ -1,2 +1,53 @@
 # Dozer24
 This is the robot code from the Ingenium team.
+
+## Software
+### Description
+The [src code](./src/) is an arduino sketch: [`Dozer.ino`](#dozerino)
+
+#### [`Dozer.ino`](./src/Dozer/Dozer.ino)
+##### Receive values
+* Read values received by `Bluetooth` on the `Serial1` and deserialize them with the [ArduinoJson](https://github.com/bblanchon/ArduinoJson) library
+
+##### Robot control
+* `switch...case` to handle the value of the keypad:
+
+| Number | Key    | Action                 | Description                          |
+| :----: | :----: | ---------------------- | ------------------------------------ |
+| 1      | 1      | open the rack          | drop the rack to the bottom and open the servomotor |
+| 2      | 2      | drop plants            | open the servomotor and drop the plants |
+| 3      | 3      | take the plants        | close the servomotor and take the rack up |
+| 4      | 4      | rack mid-height        | get the rack to the height of the jardinière |
+| 5      | 5      | rack up                | get the rack all the way up          |
+| 6      | 6      | drop the plants        | get the rack down, open the servomotor and get the rack up |
+| 7      | 7      | solar panel flip (rack)| get the rack at the height of the solar panel |
+| 8      | 8      |                        |                                      |
+| 9      | 9      | solar panel flip (servo) | get the rack up and deploy the stick to flip the solar panels from the inside |
+| 10     | *      | stepper setup          | setup the stepper motor to find the limits (e.g. after a belt jump) |
+| 11     | 0      | stop                   | stop the robot (motor and actuators) |
+| 12     | #      | estimation             | type it to enter the estimation, all keys lose their usual binds. After another click on this key or 3 numbers entered, it loses the estimation focus. |
+
+* Control the motors according the values of the joysticks:
+  * The left one turns the robot on its axis. The Y value is used to apply the fast or slow mode.
+  * The right one handles the horizontal translation: forward, backward, sideway right and left.
+
+### Dependecies
+The INO file depends of the following list of libraries:
+* [Bluetooth](https://github.com/IngeniumTeam/Bluetooth)
+    * [Arduino/SoftwareSerial](https://docs.arduino.cc/learn/built-in-libraries/software-serial): This library is built into the Arduino IDE
+    * [bblanchon/ArduinoJson](https://github.com/bblanchon/ArduinoJson)
+* [Mecanum](https://github.com/IngeniumTeam/Mecanum)
+    * [Motor](https://github.com/IngeniumTeam/Motor)
+* [Report](https://github.com/IngeniumTeam/Report)
+* [Led](https://github.com/IngeniumTeam/Led)
+* [Cherry](https://github.com/IngeniumTeam/Cherry)
+* [StepperMotor](https://github.com/IngeniumTeam/StepperMotor)
+* [Digit](https://github.com/IngeniumTeam/Digit)
+* [Timino](https://github.com/SimonPucheu/Timino)
+
+## Hardware
+* Arduino Mega 2560
+* 4 motors equipped with [mecanum wheels](https://en.wikipedia.org/wiki/Mecanum_wheel)
+* HC-05 bluetooth module
+* 2 servomotors MG996
+* Stepper motor