I made a thing!

With that video out of the way, here is a bit more of a write-up!

Motivation

The hoverbot is a simple 2 wheel balancing robot. I built it to demonstrate how the moteus-c1 can be used to drive hoverboard motors and to demonstrate the capabilities of the pi3hat for high rate control and effective attitude reference calculation. It is powered by a single Bosch 18V cordless drill battery and controlled through an identical websocket based interface as the quad A1, primarily operated by a phone with a paired bluetooth joystick.

As of pypi 0.3.68, tview has gained the ability to delay execution of a compound command until the currently executing trajectory is complete. This can be useful for developing more complex motions that consist of multiple steps.

To use it, just issue a '?[optional_id]' in your command sequence. For instance, to move to position 1 and come to a stop, then move to position 0 when that has completed, you could do: