SLURP Testbed Integration Project Code Author: Constantinos Gerontis email: cgeron@bu.edu github: cgerontis

Notes:This README includes general descriptions of the contents of each major folder of the integration project. For more detailed descriptions there are README files in each of the major folders. The major folders are the following:

Folders: 1)Arduino 2)GNU Radio Control 3)Matlab 4)Optitrack Files 5)PATT Control 6)PATT Design

1)Arduino The contents of this folder are the ArbotiX Sketches, drivers, hardware, and libraries. Some of these contents may be redundant but I placed all of the files I have in those folders just in case. These folders should be placed in the arduino folder of your computer if you wish to update the firmware on PATT. You don't have to replace your files with these but you must ensure that you have at least all of the files from these folders in the corresponding folders on your computer, along with whatever other files you had.

2)GNU Radio Control The files in GNU Radio Control are the necessary scripts to have on whatever computer will be running GNU Radio. The two files must be placed in the same folder and you must have GNU radio companion installed in the Ubuntu environment you'll be using. Whatever folder contains these two files will also be automatically filled with the files created at each point during data collection.

3)Matlab This folder has 2 sub-folders:1)Arduino Communication and 2)Integration Project. Arduino Communication: The files in this folder are used to communicate directly with MATT and PATT, and do not need optitrack to be running. The capabilities are pretty limited but work for moving around the turret.

Integration Project: The files in this folder are used to run the testbed with optitrack and GNU Radio. This folder also contains all of the NatNet files which are required to be in the same folder for Optitrack to work. The two main scripts you should use are 1)"MATTandPATTandOptitrack" and 2)"GOMP". "MATTandPATTandOptitrack" is used to control the testbed with Optitrack positioning for confirmation. "GOMP" is the more advanced version which includes communication with another computer running GNU Radio. The script "MATTandPATT_keyboard_control_2.m" can also be used to control MATT and PATT using individual commands through the keyboard without Optitrack.

4)Optitrack Files This folder contains the necessarry calibration files for GOMP to run. These files are to be used with the "Motive" software

5)PATT Control This folder includes the arduino files necessary for PATT(Pan Aperture Tilt Turret) to run. This code requires folder 1(Arduino) to be installed properly. The three files included in PATT Control are: 1)Aperture_Control,2)Pan_Control,3)Serial_Communication. Aperture Control: This file specifies how the aperture should be controled and defines the homing sequence

Pan Control: This file specifies how the pan-axis should be controled

Serial Communication: This file initiates and maintains serial communication with a connected device or computer and also controls the tilt axis and specifies the offset.

6)PATT Design This folder has the PATT solidworks design as well as the corresponding STL files. This includes PATT Mk1 and PATT Mk2. PATT Mk1 used the 75mm "Zero-aperture" iris, and Mk2 uses the 50mm iris.