# [Robot Go West](https://projets.cohabit.fr/redmine/projects/communication-racinaire/wiki/Robot_Go-West)

### Introduction 
This projet is a part of larger projet [_Communication Racinaire_](https://projets.cohabit.fr/redmine/projects/communication-racinaire/wiki/Wiki#section-8) which aims to drive plante into the direction of the sun.

When a plant received the solar radiation, a **difference of potential** will be created inside the plant. This physical reaction interest us to **measure** it and **interpret** the signal to drive the robot. 

![Diagram](https://git.cohabit.fr/pgp/Traitement-signal-plantes/src/branch/Data/Image_Diagram/chaien.PNG)

On the diagram we can see a "**Pi**" symbole which represents the micro-controller who calculate and drive the robot, who will make the **C sources** work. After many hours of working or test phase the microcontroller create and store data interpretable by the **Python script**.

## Embedded C sources
![Graphical representation](https://git.cohabit.fr/pgp/Traitement-signal-plantes/src/branch/Data/Image_Diagram/ResumeWorkingDiagram.PNG)

The scheme represents well the program operation on the raspberry, the diagram is read from left to right.

**The first** represent the stream from vegetalsignal's captor through the USB port. This part block us because we don't have stream for now with the captor then we have create a thread to similate it. The stream send Raw data correspond to the electrique tension generated by the plant.

**The second** part with the thread storeRawData catch the raw data and store it in the memory in several files.(Usable data for python script)


**The third** part is used to gather data files and calculate to have pertinante data (Power or GrowthRate) and store it in file.


**The fourth** is not yet done, the thread drive will recovers the power and/or the gorwthRate data recognize events in the data and drive the robot.
## Graphic visualization Python script

The Python script is used to print the tension data on a graph.