This is the main program to handle Disty moves and control.

To build this software, you will need to have WiringPi installed system-wide. To use Disty, you will have to have support for GPIOs.

• Create a build directory.
• Use CMake to generate Makefiles: cd build; cmake ..
• Make: make

If you want to tweak the behaviour of the program (such as the used GPIOs), just edit the headers/constants.hpp file.

• Run the program: cd build; sudo ./disty (you need to run it as root for PWM and GPIO access).
• The server is now listening for commands. Available commands can be found in Robot::listen. These are FORWARD, BACKWARD, STOP and KILL.
• You can use netcat on the RaspberryPi to send UDP commands to test it: nc -u localhost 4242.

Just run the program with cd build; sudo ./disty and let it run.