diff --git a/.github/workflows/publish-documentation.yml b/.github/workflows/publish-documentation.yml
new file mode 100644
index 0000000..ec99b52
--- /dev/null
+++ b/.github/workflows/publish-documentation.yml
@@ -0,0 +1,40 @@
+name: Publish Documentation
+on:
+ push:
+ branches:
+ - master
+ workflow_dispatch:
+
+jobs:
+ deploy:
+ runs-on: ubuntu-latest
+ permissions:
+ contents: write # To push a branch
+ pages: write # To push to a GitHub Pages site
+ id-token: write # To update the deployment status
+ steps:
+ - uses: actions/checkout@v3
+ with:
+ fetch-depth: 0
+ - name: Install latest mdbook
+ run: |
+ tag=$(curl 'https://api.github.com/repos/rust-lang/mdbook/releases/latest' | jq -r '.tag_name')
+ url="https://github.com/rust-lang/mdbook/releases/download/${tag}/mdbook-${tag}-x86_64-unknown-linux-gnu.tar.gz"
+ mkdir mdbook
+ curl -sSL $url | tar -xz --directory=./mdbook
+ echo `pwd`/mdbook >> $GITHUB_PATH
+ - name: Build Book
+ run: |
+ # This assumes your book is in the root of your repository.
+ # Just add a `cd` here if you need to change to another directory.
+ mdbook build documentation
+ - name: Setup Pages
+ uses: actions/configure-pages@v2
+ - name: Upload artifact
+ uses: actions/upload-pages-artifact@v1
+ with:
+ # Upload entire repository
+ path: 'documentation/book'
+ - name: Deploy to GitHub Pages
+ id: deployment
+ uses: actions/deploy-pages@v1
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..238eac7
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,2 @@
+.idea/
+venv/
\ No newline at end of file
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..c7d1c38
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024 DeDiamondPro
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..7b9c172
--- /dev/null
+++ b/README.md
@@ -0,0 +1,12 @@
+# AQLARP
+
+
+AQLARP stands for **A**ffordable **Q**uadruped **L**earning **A**nd **R**esearch **P**latform.
+
+AQLARP was created as my final for high school.
+
+For more information please see the [documentation](https://aqlarp.dediamondpro.dev)
+
+## AQLARP Walking Demo:
+
+[](https://www.youtube.com/watch?v=xvpN8pladkQ)
diff --git a/documentation/.gitignore b/documentation/.gitignore
new file mode 100644
index 0000000..b854713
--- /dev/null
+++ b/documentation/.gitignore
@@ -0,0 +1,2 @@
+book
+.obsidian
\ No newline at end of file
diff --git a/documentation/book.toml b/documentation/book.toml
new file mode 100644
index 0000000..5e11da2
--- /dev/null
+++ b/documentation/book.toml
@@ -0,0 +1,10 @@
+[book]
+authors = ["DeDiamondPro"]
+language = "en"
+multilingual = false
+src = "src"
+title = "AQLARP"
+
+[output.html]
+mathjax-support = true
+git-repository-url = "https://github.com/DeDiamondPro/AQLARP"
\ No newline at end of file
diff --git a/documentation/src/SUMMARY.md b/documentation/src/SUMMARY.md
new file mode 100644
index 0000000..9cf0f6e
--- /dev/null
+++ b/documentation/src/SUMMARY.md
@@ -0,0 +1,20 @@
+# AQLARP
+
+[AQLARP](title-page.md)
+# Introduction
+- [Design Principles](ch01-01-design-principles.md)
+- [Coordinate System](ch02-01-coordinate-system.md)
+# Building
+- [Required Materials](ch03-01-required-materials.md)
+- [Raspberry Pi Setup](ch04-01-raspberry-pi-setup.md)
+- [Building](ch05-00-building.md)
+ - [Building The Legs](ch05-01-building-leg.md)
+ - [Building The Main Body](ch05-02-building-body.md)
+- [Installing Software](ch06-01-installing-software.md)
+# API
+- [ROS2 Topics](ch06-01-ros2-topics.md)
+# Concepts explained
+
+- [Inverse Kinematics](ch08-00-inverse-kinematics.md)
+ - [Inverse Kinematics Of The Legs](ch08-01-inverse-kinematics-legs.md)
+ - [Inverse Kinematics Of The Body](ch08-02-inverse-kinematics-body.md)
\ No newline at end of file
diff --git a/documentation/src/ch01-01-design-principles.md b/documentation/src/ch01-01-design-principles.md
new file mode 100644
index 0000000..0be97ed
--- /dev/null
+++ b/documentation/src/ch01-01-design-principles.md
@@ -0,0 +1,14 @@
+# Design Principles
+AQLARP stands for **A**ffordable **Q**uadruped **L**earning **A**nd **R**esearch **P**latform. These are the principles AQLARP is based on.
+## Platform
+This is the most important principle for AQLARP. AQLARP should be a solid, extendable platform, which you can use as starting point to build on and create your own amazing projects.
+Here are some of the design decisions to make AQLARP a platform:
+1. Extendibility: the top, front and back are easily replaceable with your own components that suit the needs of what you are trying to create.
+2. Interoperability: AQLARP makes use of [ROS2](https://ros.org) so you can easily write your own code, in any programming language you chose, that can effortlessly interact with other parts of AQLARP's codebase.
+3. Well Documented: AQLARP has a good documentation to learn about AQLARP and how to extend it. Additionally AQLARP's code has clear comments to help you understand it.
+## Affordable
+AQLARP is relatively affordable. The parts chosen are a balance of price and how suitable they are to build a platform. Affordability does not come before making AQLARP a stable and extendable platform.
+## Learning
+AQLARP can be used as a learning tool. To aid in this AQLARP is well documented and extendable. Additionally AQLARP uses [ROS2](https://ros.org) which is commonly used in the robotics industry and is a valuable skill to learn.
+## Research
+AQLARP is extendable and it is easy to add extra sensors to measure the influence of a variety of factors. Additionally AQLARP is open source so you can change anything you want to aid in your research.
\ No newline at end of file
diff --git a/documentation/src/ch02-01-coordinate-system.md b/documentation/src/ch02-01-coordinate-system.md
new file mode 100644
index 0000000..b8c5e3a
--- /dev/null
+++ b/documentation/src/ch02-01-coordinate-system.md
@@ -0,0 +1,17 @@
+# Defining AQLARP's coordinate system
+Knowing AQLARP's coordinate system is import so you know what setting each axis will do.
+Here are the definitions for it:
+- X-axis:
+ - Increasing the value will make AQLARP move to the front
+ - Decreasing the value will make AQLARP move to the back
+- Y-axis:
+ - Increasing the value will make AQLARP go up
+ - Decreasing the value will make AQLARP go down
+- Z-axis:
+ - Increasing the value will make AQLARP go to the right
+ - Decreasing the value will make AQLARP go to the left
+
+The origin of these axis is where the leg is connected to the top joint, this is a per leg coordinate system.
+
+Below are some images to clarify what axis does what.
+
\ No newline at end of file
diff --git a/documentation/src/ch03-01-required-materials.md b/documentation/src/ch03-01-required-materials.md
new file mode 100644
index 0000000..3ab5312
--- /dev/null
+++ b/documentation/src/ch03-01-required-materials.md
@@ -0,0 +1,12 @@
+# Required Materials
+
+AQLARP's bill of materials is available [here](https://docs.google.com/spreadsheets/d/e/2PACX-1vRbQA3j36Z8nV3XLGrAlESTOF5qkMQ1r0tQvmaywV8VTpTOwY9WorlNrphstLwu9Ot1-xkpC_Ci4Gyd/pubhtml). ([download](https://docs.google.com/spreadsheets/d/e/2PACX-1vRbQA3j36Z8nV3XLGrAlESTOF5qkMQ1r0tQvmaywV8VTpTOwY9WorlNrphstLwu9Ot1-xkpC_Ci4Gyd/pub?output=xlsx))
+
+
+
+I would encourage you to look around and see if you can find parts for cheaper since these prices will change with time and depending on your area they may also vary.
+
+Additionally you will have to have the following tools:
+- Screw driver for the type of screws you chose
+- Sottering iron
+- 3D printer
\ No newline at end of file
diff --git a/documentation/src/ch04-01-raspberry-pi-setup.md b/documentation/src/ch04-01-raspberry-pi-setup.md
new file mode 100644
index 0000000..b6ed16c
--- /dev/null
+++ b/documentation/src/ch04-01-raspberry-pi-setup.md
@@ -0,0 +1,47 @@
+# Raspberry Pi setup
+During the build process, it will be required to set the servos to 90 degrees at some points, to do this the raspberry pi should be set up and connected to the servo controller, that is what we will be doing here.
+
+## Installing Ubuntu
+Firstly, install the [Raspberry Pi Imager](https://www.raspberrypi.com/software/) from their website, this is what we will be using to flash the Ubuntu image to a micro SD card.
+
+After installing the imager open it up and select the appropriate Raspberry Pi device, if you are using the same parts this will be a Raspberry Pi 4. Then Click `Choose OS` and scroll down to `Other general-purpose OS` and click it. Then select Ubuntu and choose any 64-bit version. I would recommend using the latest LTS version (22.04.4 LTS at the time of writing). If you plan on ever connecting a display chose the desktop version, otherwise the server version will be fine. Make sure to select a 64-bit version.
+
+Now you have to specify some settings, to do this press `Ctrl + Shift + X`. Check the Checkbox `Set username and password`. For username you can set what you want, but the rest of this documentation will be based in the username `AQLARP`. Then choose a password you can remember easily as we will need this later. Next check the checkbox `Configure wireless LAN`, set `SSID` to the name of your WiFi network, and enter the password in the password field.
+
+
+Then click save, select your micro SD card with the storage button and click next to start flashing the image to the SD card. After this is done put the micro SD card in the raspberry pi and power it using the USB C port.
+
+## Connecting to the raspberry pi
+Next you will have to find the IP of your raspberry pi, if you have access to the router you can log in to it's dashboard and find the IP as such. If you don't have access to the router finding the IP will be significantly harder, you will have to use a tool like nmap to find the IP. Make sure you can access other devices (like the Raspberry Pi) on your network, some school or work networks might block this. If you cannot access other devices on your network I would recommend using a [cheap travel router](https://www.amazon.nl/GL-iNet-GL-MT300N-V2-Reiserouter-Repeater-Extender/dp/B073TSK26W). As an added bonus of this you will be able to easily view the Raspberry Pi's IP in it the router's dashboard.
+
+Once you have the IP you can connect using ssh. To do this open a terminal (search `cmd` in Windows and open it) then execute the following command:
+```console
+$ ssh AQLARP@
+```
+If you chose a different username than AQLARP, but it in the command instead of AQLARP. It will then ask you to input the password you chose when setting it up. If you can't immediately connect to the Raspberry Pi, be patient since it can take a few minutes for the Raspberry Pi to bootup.
+
+## Clone the Github Repo
+Next you will have to clone the GitHub repo, since this contains all of AQLARP's code. To do this run:
+```console
+$ git clone https://github.com/DeDiamondPro/AQLARP.git
+```
+
+## Install dependencies
+To use the scripts, some basic dependencies have to be installed. To do this run the following commands
+```console
+$ sudo apt update
+$ supt apt install -y python3 python3-pip i2c-tools
+$ python3 -m pip install adafruit-circuitpython-servokit rpi.gpio
+```
+
+## Connecting the servo driver
+To connect to the servo driver, you can check the wiring image below.
+The loopback from V+ to V+ might not be required if it is attached correctly, but it was required for me.
+
+Connect V+ and GND (the socket version) to a power supply of 5-7V. This can be the battery and a voltage regulator if you wish.
+
+Now to check if the controller is connected correctly, run the following command.
+```
+$ i2cdetect -y 1
+```
+You should see it show up with the address `0x40`
\ No newline at end of file
diff --git a/documentation/src/ch05-00-building.md b/documentation/src/ch05-00-building.md
new file mode 100644
index 0000000..f6ac2de
--- /dev/null
+++ b/documentation/src/ch05-00-building.md
@@ -0,0 +1,6 @@
+# Building
+In this chapter we will go over how to build AQLARP
+
+> **🚨 This documentation might be incomplete or incorrect**
+>
+> It is advisable to have a basic understanding of the parts of the robot to effectively address encountered issues. If you need help, feel free to open an issue on [AQLARP's GitHub](https://github.com/DeDiamondPro/AQLARP). However there is no guarantee that I will be able to help you.
diff --git a/documentation/src/ch05-01-building-leg.md b/documentation/src/ch05-01-building-leg.md
new file mode 100644
index 0000000..8662846
--- /dev/null
+++ b/documentation/src/ch05-01-building-leg.md
@@ -0,0 +1,29 @@
+# Building The Legs
+In this chapter we will be building the 4 legs.
+## Required 3D-printed parts per leg:
+- Left legs:
+ - [Leg-Top-Left](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/legs/Leg-Top-Left.stl)
+ - [Leg-Bottom-Left](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/legs/Leg-Bottom-Left.stl)
+ - [Leg-Joint-Top-Left](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/legs/Leg-Joint-Top-Left.stl)
+ - [Leg-Joint-Bottom-Left](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/legs/Leg-Joint-Bottom-Left.stl)
+ - [Sock](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/legs/Sock.stl) (Print out of TPU, this part is to provide grip)
+- Right legs:
+ - [Leg-Top-Right](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/legs/Leg-Top-Right.stl)
+ - [Leg-Bottom-Right](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/legs/Leg-Bottom-Right.stl)
+ - [Leg-Joint-Top-Right](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/legs/Leg-Joint-Top-Right.stl)
+ - [Leg-Joint-Bottom-Right](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/legs/Leg-Joint-Bottom-Right.stl)
+ - [Sock](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/legs/Sock.stl) (Print out of TPU, this part is to provide grip)
+## Assembly
+First, take the top part of the leg and attach the servo in the hole, the gear of the servo should be facing the same way as the hole at the top for the circular servo horn. Then attach the circular servo horn in the top hole using 4 small screws. After doing those 2 steps, it should look something like this.
+
+Then attach the `Leg-Joint-Top` and `Leg-Joint-Bottom` part together using an M3 screw and a locknut. Don't overtighten it, it should be able to rotate freely. Then attach it to the bottom leg part, after doing that it should look something like this.
+
+Then connect the top and bottom of the leg together using an M4 screw and a locknut, again don't overtighten it since it should be able to rotate freely. After doing that you should have something like this.
+
+Then finally you must set the servo to 90 degrees, to do this connect the servo to the servo driver and run the following command on the Raspberry Pi.
+```console
+$ python3 ~/AQLARP/scripts/set90.py
+```
+Then connect the top joint part to the servo, try to make the angle as close to 90° as possible. Then lock them together using an M3 screw.
+
+And that is a completed leg, the rest of the servos will be added when assembling the body since if you attach them now you won't be able to access some parts that you will need to access later.
\ No newline at end of file
diff --git a/documentation/src/ch05-02-building-body.md b/documentation/src/ch05-02-building-body.md
new file mode 100644
index 0000000..c0fc9cc
--- /dev/null
+++ b/documentation/src/ch05-02-building-body.md
@@ -0,0 +1,49 @@
+# Building The Main Body
+In this chapter we will go over building the main body.
+## Required 3D-printed parts
+- [Main-Body](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/body/Main-Body.stl)
+- [Front-Back-Body](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/body/Front-Back-Body.stl) x2
+- [Top-Joint-Left](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/body/Top-Joint-Left.stl) x2
+- [Top-Joint-Right](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/body/Top-Joint-Right.stl) x2
+- [Top-Cover](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/body/Top-Cover.stl)
+- [Nut-Tool](https://github.com/DeDiamondPro/AQLARP/blob/master/models/stl/misc/Nut-Tool.stl) (Needed for assembly, breaks quite easily, you might need multiple)
+
+## Assembly
+First install the 3D-printing inserts into the main body. There are holes for 6 M4 inserts at the top and 14 standoffs with place for M3 inserts in the bottom. To insert an insert carefully place it on the hole and then push it in using a sottering iron, this melts the plastic around it so the insert can slide right in and stay there securely.
+
+Then install the 4 servos in the corners of the main body, these should be installed with the servo gear at the bottom. The locknuts should be on the inside and the screws at the outside. Unfortunately it is practically impossible to reach the nuts at the bottom when tightening the screws. To address this you can use the nut tool file I provided, load 2 nuts in it and place it where you need it then screw the screws in to the nuts and tighten the servo that way. Be careful not to overtighten it since the nut tool snaps very easily.
+
+After that is done you need to install the circular servo attachments to the top joint parts using the 4 small screws. Now connect the servos in the corners to the servo driver and set them to 90° using this command.
+```console
+$ python3 ~/AQLARP/scripts/set90.py
+```
+Now install the top joint part, make it so it is as straight as possible. Then use an M3 screw to screw it into the servo from the side.
+
+After that is done you can install the final servo into the top joint part using M4 screws and locknuts. Then set them all to 90 degrees using the command above again and then install the leg on it, again trying to make it as straight as possible.
+
+Now we will install the front and back cover, to do this first feed the wires of the servos trough the hole at the bottom and into the main body, and then attach the front/back cover using 4 M4 screws and locknuts.
+
+## Wiring
+We will create the wiring outside of the body before moving it in, this is easier since we have more space to work with outside of the body.
+
+Connect the battery to the voltage regulators so you can configure their target voltage. Adjust the 20A voltage regulator until it outputs about 6.8V and adjust the XL4005 voltage regulator until it outputs 5V. This is very important as a wrong voltage could destroy your components.
+
+Now wire everything up as shown in the image below.
+
+Please note the voltage regulators in the image aren't the same as those actually used. Make sure you connect the negative and positive pole correctly.
+
+To connect the gryo and servo controller to the same pin you need Y-wires, you can easily create 2 of these by cutting open 2 jumper wires and soldering 3 parts together.
+
+## Connecting the servos
+It is vital you connect each leg to the correct pin on the servo controller. The top joint should be the first of the 3 pins, the bottom joint the second and the sideways joint the third.
+The pins for the legs are as follows:
+- Front Left: pin 9-11
+- Front Right: pin 0-2
+- Back Left: pin 6-8
+- Back Right: pin 3-5
+
+## Installing in body
+Now you just have to install all components in the body as is shown in the image below.
+
+
+After that is done you just have to install the top cover and then you're done!
\ No newline at end of file
diff --git a/documentation/src/ch06-01-installing-software.md b/documentation/src/ch06-01-installing-software.md
new file mode 100644
index 0000000..f987bf2
--- /dev/null
+++ b/documentation/src/ch06-01-installing-software.md
@@ -0,0 +1,108 @@
+# Installing software
+In this chapter we will go over installing and setting up all software required for AQLARP to work. You should already have AQLARP's GitHub repo cloned in your home directory as specified in [chapter 4.1](/ch04-01-raspberry-pi-setup.html#clone-the-github-repo)
+## Installing ros2
+AQLARP is built using ros2 iron, it might work with later versions but this is untested. To install ros2 iron you can follow [their installation instructions](https://docs.ros.org/en/iron/Installation/Ubuntu-Install-Debians.html). After installing ros2 you must also install colcon, this is ros2's build system. To do this run the command below.
+```console
+$ sudo apt install python3-colcon-common-extensions
+```
+## Sourcing ros2 automatically
+To use ros2 you must source it every time, this can be annoying. To do this automatically run the following command.
+```console
+nano ~/.bashrc
+```
+Then add these 2 lines at the end of the file.
+```bash
+source /opt/ros/iron/setup.bash
+source ~/new_ws/install/setup.bash
+```
+Then press `Ctrl + O` to save and `Ctrl + X` to exit. To make this apply you should log out of the Raspberry Pi and start a new shell session.
+## Installing dependencies
+To install dependencies first go into the workspace directory, to do this run the following command.
+```console
+$ cd ~/AQLARP/ros2_ws
+```
+Then run the following command to install all required dependencies using rosdep.
+```console
+$ rosdep install --from-paths src -y --ignore-src
+```
+Then additionally you have to install pygame using pip, since the version rosdep uses is severally outdated. To do this run the following command.
+```console
+$ python3 -m pip install pygame
+```
+
+## Building the code
+You should be in the workspace directory as specified in the previous step. Then to build the code run the following command and wait for it to complete
+```console
+$ colcon build
+```
+## Calibrating the servos
+Since the servos aren't exactly at 90° they have to be calibrated. To run the calibration script run the following command.
+```console
+$ ros2 run aqlarp_motors calibration
+```
+Then to use the calibration script use the left and right arrow keys to increase or decrease the angle offset and use the up and down arrow keys to switch servo. You should try to set all servos as close to 90 degrees as possible.
+## Running the code
+To run all code of AQLARP, and thus start the robot, run the following command.
+```console
+$ ros2 launch aqlarp_main aqlarp.launch.py
+```
+To control the robot you will have to connect a ps4 controller, you can either do this by using a cable and connecting it using one of the USB ports, or alternatively you can use the instructions in the next part to connect the ps4 controller wirelessly.
+
+The controls for AQLARP are as follows:
+- Playstation button: start and stop the servos
+- Left Joystick: Make the robot strafe in the direction you specify
+- Right Joystick: Make the robot turn by moving the joystick left and right.
+## Connecting ps4 controller wirelessly
+Open a command prompt on the raspberry pi (with ssh) and run the following command to get into the Bluetooth command line.
+```console
+$ bluetoothctl
+```
+Then start scanning for Bluetooth devices with the following command.
+```bash
+scan on
+```
+Now press and hold the PlayStation and share button on your controller for a few seconds until the lightbar starts flashing. Then look at the output in your terminal for something like this.
+```
+Device A4:AE:11:41:FD:98 Wireless Controller
+```
+Copy the MAC address (the numbers in the center) and run the next command to pair with the controller. Make sure the lightbar is still flashing, if it isn't flashing anymore hold down the PlayStation and share button again.
+```
+pair
+```
+Then finally to make it so the controller can connect to AQLARP by just pressing the PlayStation button, run
+```
+trust
+```
+Now type `exit` to exit the Bluetooth terminal. If you want to disconnect the controller, hold down the PlayStation button for 10 seconds. To reconnect the controller, press the PlayStation button once.
+
+## Making the code run on startup
+If you want to make AQLARP's code run on startup so you can just connect the controller and use it, you will have to create a file called `aqlarp.service` at `/etc/systemd/system/`.
+To do this run the following command.
+```console
+$ sudo nano /etc/systemd/system/aqlarp.service
+```
+Then paste the following content into it.
+```toml
+[Unit]
+Description="AQLARP daemon"
+
+[Service]
+User=AQLARP
+Restart=always
+RestartSec=1
+
+Environment="LD_LIBRARY_PATH=/home/AQLARP/AQLARP/ros2_ws/install/aqlarp_interfaces/lib:/opt/ros/iron/lib/aarch64-linux-gnu:/opt/ros/iron/lib"
+Environment="PYTHONPATH=/home/AQLARP/AQLARP/ros2_ws/install/aqlarp_sensors/lib/python3.10/site-packages:/home/AQLARP/AQLARP/ros2_ws/install/aqlarp_motors/lib/python3.10/site-packages:/home/AQLARP/AQLARP/ros2_ws/install/aqlarp_main/lib/python3.10/site-packages:/home/AQLARP/AQLARP/ros2_ws/install/aqlarp_interfaces/lib/python3.10/site-packages:/home/AQLARP/AQLARP/ros2_ws/install/aqlarp_input/lib/python3.10/site-packages:/opt/ros/iron/lib/python3.10/site-packages"
+Environment="AMENT_PREFIX_PATH=/home/AQLARP/AQLARP/ros2_ws/install/aqlarp_sensors:/home/AQLARP/AQLARP/ros2_ws/install/aqlarp_motors:/home/AQLARP/AQLARP/ros2_ws/install/aqlarp_main:/home/AQLARP/AQLARP/ros2_ws/install/aqlarp_interfaces:/home/AQLARP/AQLARP/ros2_ws/install/aqlarp_input:/opt/ros/iron"
+
+ExecStart=/opt/ros/iron/bin/ros2 launch aqlarp_main aqlarp.launch.py
+
+[Install]
+WantedBy=multi-user.target
+```
+If you use a different user then AQLARP or have cloned the GitHub repo in a different location, you will have to edit this file accordingly. To save the file press `Ctrl + O` and then press `Ctrl + X` to save.
+
+Then finally to enable the service run the following command.
+```console
+$ sudo systemctl enable --now aqlarp.service
+```
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diff --git a/documentation/src/ch06-01-ros2-topics.md b/documentation/src/ch06-01-ros2-topics.md
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+# Ros2 Topics
+This chapter outlines the various ros2 topics AQLARP has that you can interact with to adapt the robot to your use case.
+
+## Heading topic
+Topic name: `heading`
+
+Package: `aqlarp_main`
+
+Description: with this topic you can specify where the robot should go to and at what speed. The heading parameters will be limited to a circle of radius one and the rotation parameter will be limited between -1 and 1.
+
+Data type: [Heading](https://github.com/DeDiamondPro/AQLARP/blob/master/ros2_ws/src/aqlarp_interfaces/msg/Heading.msg)
+
+Values:
+- `float32 x_heading`
+- `float32 z_heading`
+- `float32 rotation`
+## Power topic
+Topic name: `power`
+
+Package: `aqlarp_main`
+
+Description: with this topic you can set the power to the servos on or off.
+
+Data type: Boolean
+
+## Gyro topic
+Topic name: `gryo_angles`
+
+Package: `aqlarp_sensors`
+
+Description: all gyro related data is published on this topic, this is published 100 times per second.
+
+Data type: [GyroAngles](https://github.com/DeDiamondPro/AQLARP/blob/master/ros2_ws/src/aqlarp_interfaces/msg/GyroAngles.msg)
+
+Values:
+- `float32 pitch`
+- `float32 roll`
+- `float32[3] angular_velocity`
+- `float32[3] acceleration`
+
+## Joint angles topic
+Topic name: `joint_angles`
+
+Package: `aqlarp_motors`
+
+Description: with this topic you can specify the angles that all servos should be set to.
+
+Data type: [JointAngles](https://github.com/DeDiamondPro/AQLARP/blob/master/ros2_ws/src/aqlarp_interfaces/msg/JointAngles.msg)
+
+Values:
+- `float32[12] angles`
+
+## Disable joints topic
+Topic name: `disable_joints`
+
+Package: `aqlarp_motors`
+
+Description: power off all servos
+
+Data type: Empty
\ No newline at end of file
diff --git a/documentation/src/ch08-00-inverse-kinematics.md b/documentation/src/ch08-00-inverse-kinematics.md
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+# Inverse Kinematics
+In this chapter we will look at the calculations behind the inverse kinematics of AQLARP, these calculations are based on trigonometry since it is quite easy to split all these problems into triangles.
+If you are not familiar with this topic or want more info, I would recommend watching the video below as it does a great job explaining this concept in a simple manner.
+
\ No newline at end of file
diff --git a/documentation/src/ch08-01-inverse-kinematics-legs.md b/documentation/src/ch08-01-inverse-kinematics-legs.md
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+# Inverse kinematics of the legs
+In this chapter we will go over the inverse kinematic calculations for an individual leg.
+## Definitions
+\\(l_{1}\\) Length of the femur (top part of leg)
+
+\\(l_{2}\\) Length of the tibia (bottom part of leg)
+
+\\(x\\) Desired x position of the leg
+
+\\(y\\) Desired y position of the leg
+
+\\(z\\) Desired z position of the leg
+
+\\(A\\) Angle of the femur joint
+
+\\(B\\) Angle of the tibia joint
+
+\\(C\\) Angle of the sideways joint
+## Y-position calculation
+The following calculation calculates the angle of the femur joint for a given y-position \\(y\\):
+$$A =\arccos\left(\frac{y^2+l_{1}^2-l_{2}^2}{2yl_{1}}\right)$$
+The following calculation calculates the angle of the tibia joint for a given y-position \\(y\\):
+$$B =\arccos\left(\frac{l_{1}^2+l_{2}^2-y^2}{2l_{1}l_{2}}\right)$$
+## X-position calculation
+The following calculation calculates the angle of the femur joint for a given x-position \\(x\\) and given a y-position \\(y\\):
+$$A = \arctan\left( \frac{x}{y} \right)$$
+## Z-position calculation
+The following calculation calculates the angle of the sideways joint for a given y-position \\(y\\) and a given z-position \\(z\\):
+$$C = \arctan\left( \frac{z}{y} \right)$$
+## Combing Calculations
+To combine these calculations we first do the X-position and Z-position calculation.
+$$A_{x} = \arctan\left( \frac{x}{y} \right)$$
+$$C_{z} = \arctan\left( \frac{z}{y} \right)$$
+First, since our rotation joint is moved inwards in relation to the leg, we must adjust the height to take the height the rotation joint is creating into account. We can do this as follows:
+$$y = y \pm \sin(A_{z}) \times 3$$
+Then we must adjust our y value to take into account that we will have to extend our leg further if we want to remain at the same height but go further forward or to the side. This is done as follows:
+$$y = \frac{y}{\cos(A_{x}) \times \cos(C_{z})}$$
+Then we can do our Y-position calculations with this adjusted \\(y\\) value.
+$$A_{y} =\arccos\left(\frac{y^2+l_{1}^2-l_{2}^2}{2yl_{1}}\right)$$
+$$B_{y} =\arccos\left(\frac{l_{1}^2+l_{2}^2-y^2}{2l_{1}l_{2}}\right)$$
+Then finally we can combine them by adding them together.
+$$A = A_{x} + A_{y}$$
+$$B = B_{y}$$
+$$C = C_{y} + C_{z}$$
+## Code
+After transforming all these calculations into code, we get this:
+```py
+def calc_angles(leg, x, y, z):
+ # Calculate top joint position to reach X coordinate
+ x_pos_a = atan(-x / y)
+ # Calculate side joint position to reach Z coordinate
+ z_pos_c = atan(z / y)
+ # Adjust the target height because of the Z-joint having 3cm offset until the leg
+ if leg == 0 or leg == 3:
+ y += sin(z_pos_c) * 3
+ else:
+ y -= sin(z_pos_c) * 3
+ # Adjust the target height for the X and Z offsets
+ y = y / (cos(x_pos_a) * cos(z_pos_c))
+ # Calculate top joint position to reach Y coordinate
+ y_pos_a = acos((y * y + leg_length1 * leg_length1 - leg_length2 * leg_length2) / (2 * y * leg_length1))
+ # Calculate bottom joint position to reach Y coordinate
+ y_pos_b = acos((leg_length1 * leg_length1 + leg_length2 * leg_length2 - y * y) / (2 * leg_length1 * leg_length2))
+ # Merge all angles and convert them from radians to degrees
+ A = degrees(x_pos_a + y_pos_a)
+ B = degrees(y_pos_b)
+ C = degrees(z_pos_c)
+ # Adjust the angles for the servo orientation and return the result
+ return (
+ (90 - A) if leg == 0 or leg == 3 else (90 + A),
+ B if leg == 0 or leg == 3 else (180 - B),
+ (90 + C) if leg < 2 else (90 - C)
+ )
+```
\ No newline at end of file
diff --git a/documentation/src/ch08-02-inverse-kinematics-body.md b/documentation/src/ch08-02-inverse-kinematics-body.md
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+# Inverse kinematic of the body
+The inverse kinematics of the body is to transform pitch, roll and rotation into offsets for the x, y and z coordinate of a leg.
+## Definitions
+\\(l\\) length of the body
+
+\\(w\\) width of the body
+
+\\(pitch\\) desired pitch
+
+\\(roll\\) desired roll
+
+\\(rotation\\) desired rotation
+
+\\(rotation\\) desired rotation
+
+\\(m_{x}\\) leg movement x
+
+\\(m_{y}\\) leg movement y
+
+\\(m_{z}\\) leg movement z
+
+\\(x\\) x position of a leg relative to the center
+
+\\(z\\) z position of a leg relative to the center
+## Pitch
+The calculations for pitch are as follows:
+$$m_{x} = \frac{l(1-\cos(pitch))}{2}$$
+$$m_{y} = \frac{l\sin(pitch)}{2}$$
+## Roll
+The calculations for roll are as follows:
+$$m_{z} = \frac{w(1-\cos(roll))}{2}$$
+$$m_{y} = \frac{w\sin(roll)}{2}$$
+## Rotation
+The calculations for rotation are based on a [rotation matrix](https://en.wikipedia.org/wiki/Rotation_matrix). These calculations are as follows:
+
+$$m_{x} = (x \times \cos(rotation) - z \times \sin(rotation)) - x$$
+$$m_{z} = (x \times \sin(rotation) + z \times \cos(rotation)) - z$$
+## Combining Calculations
+To combine these calculations you just calculate each one separately and then calculate the sum of all x calculations, then the sum of all y calculations and finally the sum of all z calculations.
+## Code
+After transforming these calculations into code, we get this:
+```py
+def calc_leg_offsets(leg, pitch, roll, rotation):
+ # Get the X and Z coordinate of the leg
+ x = (body_length / 2) if leg < 2 else -(body_length / 2)
+ z = -(body_width / 2) if leg == 0 or leg == 3 else (body_width / 2)
+ # Calculate the height difference of the leg to reach the target pitch
+ height_diff_pitch = x * sin(radians(pitch))
+ # Calculate the height difference of the leg to reach the target roll
+ height_diff_roll = z * sin(radians(roll))
+ # Calculate the X and Z offsets to keep the body centered
+ movement_x_pitch = x * (1 - cos(radians(pitch)))
+ movement_z_roll = z * (1 - cos(radians(roll)))
+ # Calculate the rotation offsets
+ movement_x_rotation = (x * cos(radians(rotation)) - z * sin(radians(rotation))) - x
+ movement_z_rotation = (x * sin(radians(rotation)) + z * cos(radians(rotation))) - z
+ # Merge the offsets and return them
+ return (
+ movement_x_pitch + movement_x_rotation,
+ height_diff_pitch - height_diff_roll,
+ movement_z_roll + movement_z_rotation
+ )
+```
\ No newline at end of file
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diff --git a/documentation/src/title-page.md b/documentation/src/title-page.md
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+# AQLARP
+
+Welcome to the AQLARP documentation. This documentation is built with [mdBook](https://github.com/rust-lang/mdBook)
+
+AQLARP stands for **A**ffordable **Q**uadruped **L**earning **A**nd **R**esearch **P**latform.
+
+AQLARP is licensed under the [MIT license](https://github.com/DeDiamondPro/AQLARP/blob/master/LICENSE).
+
+AQLARP was created as my final for high school.
+
+> **🚨 This documentation might be incomplete**
+>
+> It is advisable to have a basic understanding of the parts of the robot to effectively address encountered issues. If you need help, feel free to open an issue on [AQLARP's GitHub](https://github.com/DeDiamondPro/AQLARP). However there is no guarantee that I will be able to help you.
+
+