Change Readme

README.md

-# localization  VROB
-This projects deals with the localization of a race car on the race trace.
-This is a students project from the Bochum University of Applied Sciences.
-Author:
-Jessica Dreyer, Sebastian Böttger
+# Toolkit for locating a vehicle on the race track
+This project deals with the localization of a vehicle on a race track. 
+This is a student project from Bochum University of Applied Sciences.
 
+The main approach of localization is based on locating the vehicle based on the current and already travelled section types.
+A section type can be a right turn, a left turn and straight.
 
-## Getting started
+## Robot
+The used Robot is the LEGO EV3 Brick as a line follower to test the algorithm.
 
-The main branch contains 
+The robot use MicroPython.
+How to install MicroPython and set up your Visual Studio Code to connect your pc to the robot is documented in this file:
+https://assets.education.lego.com/v3/assets/blt293eea581807678a/bltb470b9ea6e38f8d4/5f8802fc4376310c19e33714/getting-started-with-micropython-v2_enus.pdf?locale=de-de
 
-## Name
-localization of a race car on the race trace
+Important notes regarding the robot:
+* The robot has differential drive.
+* The motors / sensors are connected to the following ports of the robot:
+    * Motor: OUTPUT A & OUTPUT B
+    * ColorSensor: INPUT 4
+    * GyroSensor: INPUT 1
 
-## Description
-This projects deals with the localization of a race car on the race trace.
-This is a students project from the Bochum University of Applied Sciences.
-Currently the project is in development.
-Till the development is finished, the branch and the readme will be updatet.
+## Getting started
+### How to run MicroPython programs on LEGO EV3: 
+1. Download and flash the EV3 MicroPython image onto a micro SD card
+2. Insert the micro SD card into the SD card slot on the EV3 Brick
+3. Download, install, and launch Visual Studio Code on your computer
+4. Install and activate the LEGO Education EV3 extension
+5. Connect the EV3 Brick
+    * After installing the extension, a device can be connected in Visual Studio Code (at the bottom, left).
+    * The LEGO EV3 Brick should be listed and can be selected in the list.
 
-## Installation
+### The following Python-packages must be installed on the computer to run the algorithm:
+* numpy
+* pandas
+* matplotlib
+* tkinter
+* socket
+* datetime
 
-## Usage
+### Preparations before run
+Clone this git. Connect the EV3 robot to the same network as your executing device.
 
-## Support
+The following adjustments might be necessary, before the algorithm is executable:
+* change ip-address in Lokalisierung_LEGO/main.py to the ip-address of the executing device
+* insert the sections of the race track in localization.py (get_set_of_section_*())
+	* structure of a section: [name, section_type, previous_sections_type]
+* if the track plotter is used, insert also a set of track parts in the file grafic (get_set_of_trackparts_*()).
+    * structure of a section: [URL, name, start position(x,y), start orientation)]
+    * Images of the race tracks are not included in this git. If interested, please contact the authors.
 
-## Roadmap
-Development of a solution
+### Run
+1. Connect the robot via Visual Studio Code.
+2. Start the python file race_management.py
+    * Now some windows should pop up.
+    * You can't move this windows until the UDP-connection with the robot is connected.
+    * __When you want to stop the script you have to restart the python kernel.__
+3. Start the main.py file on the robot.
+    * To do this, select the file in the Lego-EV window in the lower left corner of Visual Studio Code. Then right click and click on "Run"
+4. Now the robot should drive and send data to the pc which plots in the console the current detected section and plot stuff.
+5. To stop the robot/program press the left upper button on the robot, or close the dashboard window.
 
-## Contributing
+## Description
+The main branch contains the following files:
+* localization.py:      localization algorithm
+* driving.py:           detection of section type, calculation of odometry, calculation driven distance in section
+* grafic.py:            graphical output
+* race_management.py:   main program
+* Lokalisierung_LEGO (folder), main.py: programming of the robot LEGO EV3
+
+The following measured values are stored and must be adjusted if necessary (in main.py):
+* wheel circumference (radumfang)
+* wheel spacing (d)
+
+Notes on constant values (in race_management.py):
+* CHAR_RECIVING: number of chars in one UDP-message
+**This value should only be changed if the sent string changes.**    
+* THRESHOLD_LEFT, THRESHOLD_RIGHT: value to detect a left or right turn
+**These values can be changed to possibly improve the algorithm.**
+* BLOCK_SIZE_DA: number of iterations to analyse the section type
+**This value can be changed to possibly improve the algorithm.**
+* S = 0, R = 1, L = 2: value for a straight part, a right turn, a left turn of the track
+**These values should not be changed in order to maintain the functionality of the algorithm.**
 
 ## Authors and acknowledgment
 Jessica Dreyer, Sebastian Böttger
 
 ## License
-Projekt is licenend with MIT.
-See at LICENSE
+This project is licensed under the MIT License - see the LICENSE file for details.
 
 ## Project status
-Work in progress
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+Project closed.
+
+Cordial invitation to further develop this project.
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