Robocook Robot Control System

A C++ robot control system for a dual-arm cooking robot with 6 motor actuators (3 per arm).

Features

• Dual Arm Control: 2 independent robotic arms (Left & Right)
• 6 Motor Actuators: 3 motors per arm (Shoulder/Base, Elbow, Wrist)
• GUI Control Panel: ImGui-based graphical interface with real-time visualization
• Motion Planning: Coordinated multi-motor movements
• Thread Safety: Mutex-protected operations for concurrent control

Architecture

Robocook2/
├── app/                    # Command-line application
├── gui_app/               # GUI control application ⭐
│   ├── gui_control.cpp    # Main GUI with visualization
│   └── CMakeLists.txt
├── lib/                   # Core robot library
│   ├── include/          # Header files
│   │   ├── motor.h
│   │   ├── controller.h
│   │   ├── motion_planner.h
│   │   └── robot/
│   │       └── motor_controller.h
│   └── src/              # Implementation
│       ├── motor_controller.cpp
│       ├── controller.cpp
│       └── ...
├── external/             # Third-party dependencies
│   └── imgui/           # ImGui library
└── build/               # Build output (generated)

Building

Prerequisites

sudo apt-get update
sudo apt-get install -y build-essential cmake libglfw3-dev

Build Steps

# Create build directory
mkdir -p build
cd build

# Configure with CMake
cmake ..

# Build all targets
make -j$(nproc)

# Or build specific targets
make myapp          # Command-line app
make robocook_gui   # GUI application

Running

GUI Control Application (Recommended)

# From project root
./run_gui.sh

# Or directly
./build/gui_app/robocook_gui

Controls:

• Arrow Keys: ↑↓ adjust motor angle, ←→ select motor, TAB switch arms
• Mouse: Drag sliders, click buttons for preset positions
• Visual Feedback: Real-time 2D arm visualization

See GUI_README.md for detailed GUI documentation.

Command-Line Application

./build/app/myapp

Robot Specifications

Arms

• Left Arm: Pick and place operations
• Right Arm: Stirring and manipulation tasks

Motors (per arm)

• Motor 0: Shoulder/Base rotation (-180° to +180°)
• Motor 1: Elbow joint (-180° to +180°)
• Motor 2: Wrist/End effector (-180° to +180°)

Development

Technology Stack

• Language: C++23
• Build System: CMake 3.22+
• GUI Framework: Dear ImGui
• Graphics: OpenGL 3.3 + GLFW
• Threading: C++20 std::thread, mutex, atomic

Code Structure

• robot::Motor: Individual motor control with angle simulation
• robot::Arm: 3-motor arm with coordinated movements
• robot::Controller: Dual-arm coordination with synchronization barriers
• robot::Activator: Semaphore-based resource locking
• robot::MotionPlanner: Step-based motion planning (legacy)

Quick Start Example

#include "robot/motor_controller.h"

robot::Arm leftArm("LeftArm");
robot::Arm rightArm("RightArm");

// Move individual joint
leftArm.moveJoint(0, 45.0);  // Motor 0 to 45 degrees

// Move to position (all 3 motors)
leftArm.moveToAngles({10.0, 20.0, 5.0});

// Use preset actions
leftArm.pick("pan");
rightArm.stir(120, 4);  // 120 RPM for 4 seconds