Control loop for forward walking

Author: CVH95

README.md

@@ -18,7 +18,7 @@ The repo contains several directories and files:
  - **SO2:** C++ implementation of a class that defines an SO2 Central Pattern Generator network (L8 - Dynamic Computation and Muscle Model).
  - **TransferFuntion:** C++ implementation of a class with mathematical transfer functions commonly used in artificial neurons.
  - **VRN:** C++ implementation of a class to decine Velocity Reduction Networks (L9 - Modular Neural Control). 
- - **src:** Contains tests for the above projects.
+ - **tests:** Contains tests for the above projects.
 
 
 ### 1.2. Modular Neural Control

docs/LocoKit - A robot construction kit for studying and developing functional morphologies.pdf

@@ -0,0 +1,49 @@
+# Connecting to LocoKit controller from Linux
+
+### Connect to ad-hoc network (linux)
+
+ - First, build up the ad-hoc mode to connect to the controller.
+
+```sh
+sudo iwconfig wlan0 mode ad-hoc essid LocoKitController01
+sudo ifconfig wlan0 up
+sudo ip route add 192.168.2.2 dev wlan0
+sudo dhclient wlan0
+ssh [email protected]
+```
+
+### Setup ad-hoc network on LocoKit controller
+ - Add interface to /etc/network/interfaces:
+
+```sh
+	auto wlan0
+	iface wlan0 inet static
+	address 192.168.2.2
+	netmask 255.255.255.0
+	wireless-mode ad-hoc
+	wireless-essid LocoKitController<#>
+```
+
+ - Reboot LokoKit controller
+
+### Setup dhcp server on LocoKit controller
+
+ - Create configuration file /etc/udhcpd.conf
+
+```sh
+	start           192.168.2.3
+	end             192.168.2.10
+	interface       wlan0
+	max_leases      8
+```
+
+ - Create an empty leases file /var/lib/misc/udhcpd.leases
+ - Create script etc/init.d/locodhcp.sh
+
+```sh
+	#!/bin/sh
+	(udhcpd /etc/udhcpd.conf)&
+```
+
+ - Run `update-rc.d locodhcp.sh defaults 5` 
+ - Reboot