Robot Control System

A Python-based control system for the Marty robot, developed as a collaborative robotics project.

This repository brings together several modules for:

• manual robot control through a graphical interface,
• movement execution at different granularities,
• path recording and replay preparation,
• obstacle and distance sensing,
• color detection and color-based reactions,
• emotion and LED-based robot expressions,
• scripted dance / movement execution from external files.

Project Overview

The goal of this project was to design a modular control environment for a Marty robot, combining:

• robot motion control,
• sensor-based interaction,
• human-robot interface design,
• movement scripting and replay,
• emotion-based feedback.

The project was developed collaboratively using multiple Git branches, each contributor focusing on a different subsystem before integration.

Main Features

1. Robot connection

The robot is controlled through the martypy library over Wi-Fi.

Typical workflow:

• connect to Marty using its IP address,
• send movement commands,
• read sensors,
• trigger visual / emotional feedback.

2. Manual movement control

The project supports:

• single-step movements
• grid / cell-based movements

Examples:

• forward / backward
• left / right sidestep
• stand straight reset

This makes the robot easier to control both for free movement and structured navigation.

3. Graphical control interface

A GUI was developed to provide a more user-friendly control panel.

Depending on the branch / version, the interface includes:

• directional buttons,
• robot connection by IP,
• battery level display,
• color calibration,
• action launching from buttons.

4. Path recording

The robot’s movements can be saved in a compact format inside mouvement_path.txt.

Successive identical moves are compressed into codes such as:

• F = forward
• B = backward
• L = left
• R = right

This makes it easier to:

• store movement histories,
• replay or transform movement sequences,
• prepare dance / navigation scripts.

5. Sensor-based interaction

Several scripts explore robot sensing capabilities:

• obstacle detection,
• distance reading,
• battery monitoring.

These components are useful for making movement safer and more autonomous.

6. Color-emotion interaction

A color-based reaction system was explored:

• detect a color from the robot sensor,
• map the color to an emotion,
• trigger robot feedback such as eye expressions or LED color changes.

This adds a simple human-robot interaction layer to the project.

7. Dance / scripted execution

The project also includes scripts that read movement instructions from external files and execute them as robot sequences.

This was used to explore:

• path following,
• choreography execution,
• movement scripting.

Branch Contributions

initDylan

Main focus:

• robot connection,
• low-level movement commands,
• basic GUI control,
• movement recording.

Notable files:

• connection.py
• deplacement.py
• interface.py
• saveMouvement.py
• capteur_obstacle.py

initCyrille

Main focus:

• richer GUI,
• IP-based connection,
• battery display,
• color calibration,
• emotion reaction,
• obstacle / distance sensing,
• dance-file execution.

Notable files:

• interface_test.py
• get_distance.py
• get_obstacle.py
• writeinfeels.py
• lecture_feels.py
• lecturedance.py

initTaha

Main focus:

• file-driven motion logic,
• path-following interpretation,
• robot emotion expressions,
• dance / sequence support.

Notable files:

• followFile.py
• emotions.py
• lectureDance.py
• saveMouvement.py

Tech Stack

• Python
• MartyPy
• PyQt6
• File-based movement scripting

Current Strengths

• Modular robotics project
• Team-based development with branches
• Combination of control, sensing, GUI, and interaction
• Good foundation for extending toward more autonomous behaviors

Possible Improvements

• unify file naming conventions,
• centralize robot configuration (IP, constants, settings),
• remove hard-coded values from scripts,
• merge duplicated utilities,
• structure the project into folders (gui/, control/, sensors/, scripts/, utils/),
• add installation instructions and dependency list,
• document expected input file formats for .dance / path files,
• add screenshots or a short demo video.

Repository Structure (recommended future layout)

robot-control-system/
├── gui/
├── control/
├── sensors/
├── emotions/
├── scripts/
├── data/
├── README.md
└── requirements.txt