Aaron controler improvments

Config/ArmConfig.py

@@ -2,6 +2,7 @@
 import json
 from typing import Dict
 from typing import Any
+from Config.ArmPhysicalParameters import ArmPhysicalParameters
 
 class ArmConfig:
 
@@ -31,6 +32,8 @@ class ArmConfig:
         "remote_hal_port": "8000",
     }
 
+    armPhysicalParameters = ArmPhysicalParameters()  # Default physical parameters for the arm
+
     def load_config(self, config_file_path: str = 'config.json') -> Dict[str, Any]:
         config = dict(self.CONFIG_DEFAULT_DICT)  # Create a copy of the default config
         json_object = {}

Config/ArmPhysicalParameters.py

@@ -0,0 +1,48 @@
+class ArmPhysicalParameters:
+    """
+    Holds all physical and calibration parameters for the robotic arm.
+    Modify these values to match your specific hardware setup.
+    """
+
+    # --- Denavit-Hartenberg (DH) Parameters ---
+    # These define the geometry of the arm for kinematics calculations.
+    a1: float = 13.1   # [cm] Height from base to shoulder joint
+    a2: float = 3.25   # [cm] Horizontal offset from shoulder to elbow
+    a3: float = 11.4   # [cm] Length of upper arm (shoulder to elbow)
+    a4: float = 3.25   # [cm] Horizontal offset from elbow to wrist
+    a5: float = 5.8    # [cm] Length of forearm (elbow to wrist)
+    a6: float = 11.11  # [cm] Length from wrist to end-effector (gripper/tool)
+
+    # --- Joint Limits ---
+    # Set the minimum and maximum allowed angles for each joint (in degrees).
+    base_min: float = 0      # Minimum base rotation
+    base_max: float = 270    # Maximum base rotation
+    joint1_min: float = 0    # Minimum angle for joint 1
+    joint1_max: float = 90   # Maximum angle for joint 1
+    joint2_min: float = 0    # Minimum angle for joint 2
+    joint2_max: float = 75   # Maximum angle for joint 2
+
+    # --- Camera Calibration Parameters ---
+    # These are used for vision-based distance and position estimation.
+    sensor_size: float = 0.006      # [m] Physical width of camera sensor
+    focal_length: float = 0.0063    # [m] Focal length of camera lens
+    sensor_res: int = 1257          # [pixels] Horizontal resolution of camera sensor
+    fov: float = 60                 # [degrees] Field of view of the camera
+
+    # --- Offsets for Kinematic Calculations ---
+    kinematic_offset_y: float = 52.454 / 1000  # [m] Y offset for end-effector calibration
+    kinematic_offset_z: float = 33.704 / 1000  # [m] Z offset for end-effector calibration
+
+
+    # --- Notes for Modification ---
+    # - Always measure your arm's physical dimensions carefully and update the DH parameters.
+    # - If you change the camera or lens, update the camera calibration parameters.
+    # - Tune control parameters (K, lambda_, error_tolerance_coord) for smooth and accurate movement.
+    # - Adjust joint limits to match your hardware's safe operating range.
+    # - Offsets should be measured/calibrated for your specific end-effector/tool.
+    # - If you change image resolution or processing, update the vision parameters accordingly.
+
+    # Example usage:
+    # from Config.ArmPhysicalParameters import ArmPhysicalParameters
+    # params = ArmPhysicalParameters()
+    # print(params.a1)

Config/ArmRuntime.py

@@ -1,9 +1,10 @@
 from typing import Dict
 from typing import Any
 
+from Config.ArmConfig import ArmConfig
 from HALs.HAL_base import HAL_base
 from Vision.VisualObjectIdentifier import VisualObjectIdentifier
-from Controllers.Controller import Controller
+from Controllers.Base.Controller import Controller
 from Modules.server.ServerBase import ServerBase
 from Modules.App.AppBase import AppBase
 from Modules.speech_to_text.STTBase import STTBase
@@ -95,15 +96,15 @@ def console_input_handeler(input_str: str) -> None:
 
         # controler stuff
         from Controllers.FollowLargestObjectControler import FollowLargestObjectControler
-        self.selected_controller: Controller = FollowLargestObjectControler(self.selected_HAL, self.selected_object_identifier, "none")
+        self.selected_controller: Controller = FollowLargestObjectControler(self.selected_HAL, self.selected_object_identifier, arm_params=ArmConfig.armPhysicalParameters, target_label="none")
 
         # App stuff
         if config["use_app"]:
             # Kivy opens the window if this is imported, thus why it is here.
             from Modules.App.App import App
             from Controllers.FollowClaw import FollowClawController
             self.selected_object_identifier: ColorObjectIdentifier = ColorObjectIdentifier()
-            self.selected_controller = FollowClawController(self.selected_HAL, self.selected_object_identifier)    
+            self.selected_controller = FollowClawController(self.selected_HAL, self.selected_object_identifier, arm_params=ArmConfig.armPhysicalParameters, target_label="none")    
             self.selected_app = App(self.selected_controller, self.selected_HAL, self.selected_object_identifier)
 
         # Server setup