# Durin control system
This repository contains Python code that interfaces with the robot Durin, built by the [Neurocomputing Systems group](https://neurocomputing.systems) at the [KTH Royal Instititute of Technology](https://kth.se).
Please note that this is only the reference implementation for our interface. See below.
## Installation
We require a working Python installation with access to [pip](https://pypi.org/project/pip/).
After that, installation is straight-forward:
```bash
pip install durin
```
## Usage
The interface is meant to be used via Python. More examples can be found in the [`durin/examples`](https://github.com/ncskth/durin/tree/main/durin/examples) folder.
```python
from durin import *
# The ip address to Durin is 172.16.223.9X, where X is the number of the robot (1, 2, or 5).
durin_ip = "172.16.223.91"
# This connects to durin and displays a user interface (UI)
with DurinUI(durin_ip) as durin:
while True:
# Get observation
(obs, dvs, cmd) = durin.read()
# Do clever things...
# Move durin 100 units left with 0 forward/backward motion and 0 rotation
command = Move(100, 0, 0)
# Send a command to Durin
durin(command)
# ... this loop continues forever!
# You can exit it on your computer by pressing CTRL+C
```
## Sensory data
The `durin.read()` method will give you access to
1. An `Observation` from the robot sensors object containing
* `.tof` Time of Flight sensors
* `.charge` Battery charge
2. A 640x480 DVS [PyTorch](pytorch.org) tensor
* This tensor has buffered/stacked events since the last `.read()` command.
* Note that this is **only** available if the Durin has a DVS sensor installed
3. Replies from the robot, following any `Poll` commands
* This is specified in the protocol datasheet below - feel free to ignore
## Commands
The most important command is `Move(x, y, rotation)`. the `x`, `y`, `rotation` values should be in the interval between [-500, 500].
## Custom implementation
You can interface to the microcontroller (sensor + wheel actuation) and DVS microcamera with TCP and UDP.
A complete specification is available via Google Drive: https://docs.google.com/spreadsheets/d/11jD30J00-03ygZ6zJaVTnjJRQKfczT-wMIdBdpYMxD4/edit?usp=sharing
Each robot has two IP addresses - one for the microcontroller and one for the DVS controller.
The robots are numbered 1, 2, or 5. Insert those numbers where `X` is written below:
* `172.16.223.9X`: Microcontroller for sensory data and motor commands
* `172.16.223.10x`: Raspberry Pi for streaming DVS data
## Contact
Reach out to Juan or Jens if you need anything.
