文件列表:

robot eye\bin\cpuflags.rb (1069, 2006-08-11)
robot eye\bin\fixdepend (1514, 2005-06-25)
robot eye\bin\fluid_dir.pl (1508, 2005-06-25)
robot eye\bin\gpp_calc (2002, 2005-06-25)
robot eye\bin\gpp_perl (367, 2005-06-26)
robot eye\bin\insert_license (2828, 2005-06-25)
robot eye\bin\jdriver (75662, 2006-08-11)
robot eye\bin\robot (114455, 2006-08-11)
robot eye\bin\xdriver (75662, 2006-08-11)
robot eye\canlib\canlib.cc (45266, 2006-08-11)
robot eye\canlib\canlib_data.h (2899, 2005-06-25)
robot eye\canlib\canlib_util.cc (4582, 2005-06-25)
robot eye\canlib\canlib_util.h (1198, 2005-06-25)
robot eye\canlib\linkedlist.cc (1284, 2005-06-25)
robot eye\canlib\linkedlist.h (577, 2005-06-25)
robot eye\canlib\Makefile.sub (0, 2005-06-25)
robot eye\config\defs.cfg (2760, 2005-06-26)
robot eye\config\gui.cfg (4210, 2005-06-25)
robot eye\config\segway.cfg (6058, 2005-06-25)
robot eye\config\settings.cfg (6102, 2005-06-25)
robot eye\doc\CANread.txt (363, 2005-06-25)
robot eye\doc\config-help.txt (3364, 2005-06-25)
robot eye\doc\help.txt (3806, 2005-06-25)
robot eye\doc\install.txt (1717, 2005-06-25)
robot eye\doc\lab_coding_styles.cc (2016, 2005-06-25)
robot eye\Doxyfile (36594, 2005-06-25)
robot eye\iface\robot-net.h (5080, 2005-06-25)
robot eye\iface\robotclient.cc (7052, 2005-06-25)
robot eye\iface\robotclient.h (2494, 2005-06-25)
robot eye\include\canevt.h (6910, 2005-06-25)
robot eye\include\canIfData.h (1293, 2005-06-25)
robot eye\include\canlib.h (8595, 2005-06-25)
robot eye\include\canstat.h (5174, 2005-06-25)
robot eye\include\constants.h (4814, 2005-06-25)
robot eye\include\dallas.h (3183, 2005-06-25)
robot eye\include\debugprn.h (3928, 2005-06-25)
robot eye\include\getargs.h (3869, 2005-06-25)
robot eye\include\hwnames.h (6178, 2005-06-25)
robot eye\include\i82527.h (3626, 2005-06-25)
... ...

======================================================================== Segway Robot Interface Software ======================================================================== Project Leader: Brett Browning (brettb@cs.cmu.edu) Affiliation: Computer Science Department Carnegie Mellon University 5000 Forbes Avenue Pittsburgh, PA 15213 USA phone: (412) 268-2601 The software modules included in this package have been built to interface to the Segway RMP via the CAN Bus. New releases of the Segway RMP utilize a USB interface, for which this code is inappropriate. This software was designed as part of a larger system for enabling the segway to operate autonomously for playing soccer and more recently performing treasure hunts. Some of this code was developed from the open source release of the CMDragons small-size code. Where appropritae these files are noted with a different GPL license credited to either James Bruce, Scott Lenser, or Michael Bowling. ======================================================================== Setup Instructions ------------------------------------------------------------------------ To make the various programs simply go to the main directory of this download (where this file is located) and run make. This software has been developed on a Debian linux system using GNU GCC 3.3.x. The known dependencies are: - xdriver GUI relies on the Xlib libraries. - robot depends upon the KVaser CANLib libraries (some included in this release) - gpp Generic PreProcessor from http://www.nothingisreal.com/gpp/ - ruby (version 1.8 was used) ruby is used to generate the dependencies. If you don't wish to install ruby you can remove fixdepend (and also remove its call in the Makefile) and also replace gpp_calc with gpp_perl. This has not been fully tested however. To run the software, you must have a copy of the binaries and config files. All of the programs depend upon the following environment variables: SEGWAYCONFIG - This should point to where the config files are located SEGWAYPATH - This should point to the binaries SEGWAYHOST - This should be the hostname of the machine For example, in a bash or zsh when in the base directory the following commands will work: export SEGWAYCONFIG=`pwd`/config export SEGWAYPATH=`pwd`/bin export SEGWAYHOST=`hostname` You will also need to modify defs.cfg to define what type of robot you have (ISERIES or PSERIES). ======================================================================== Running the System ------------------------------------------------------------------------ There are 3 binaries included in this package that are useable. These are: robot - used to run the robot code xdriver - a keyboard/mouse interface to drive the robot jdriver - a joystick interface to drive the robot To run all the programs, set the environment variables, then run the program. Robot will open a connection to the CANBus, and will initialize the robot state. It will also open a socket to receive commands and send state information from the robot. Robot must be run on the computer connected to the CANBus of the robot. Run xdriver on any machine with a network connection to where robot is running. For all programs, -h will list the command line options. For xdriver the options are: -h - print this message -R - robot hostname -S - soccer hostname use the -R option to connect to a robot server socket. To run xdriver, the commands are: g - to grab the mouse input. mouse - turn left/right q,a - will drive the catcher up and down sf - pan left and right ed - tilt up and down left button - kick jdriver uses a gamepad controller. The keys are definable in gui.cfg. ======================================================================== Code Overview ------------------------------------------------------------------------ The code is structured as follows: bin - all binaries config - all config files doc - some additional documentation canlib - Kwaser canlib files for LapCANII include - some shared header files shared - shared utility files segway - code for running robot utils - utility programs for xdriver and jdriver

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