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robots:armadillo:software [2012/01/10 18:48] claes created |
robots:armadillo:software [2021/08/14 04:21] (current) |
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====== Armadillo Scout Software ====== | ====== Armadillo Scout Software ====== | ||
+ | *Ubuntu 11.10 | ||
+ | * Latest kernel | ||
+ | * RTAI 3.8.1, Linux Kernel 2.6.32.57 | ||
+ | *[[robotsoftware: | ||
+ | *[[robotsoftware: | ||
+ | *[[robotsoftware: | ||
+ | *Can4Linux | ||
+ | *Git 1.7.6.3 | ||
+ | |||
+ | For information on installation see [[robotsoftware: | ||
=== Control Software === | === Control Software === | ||
- | * MobotWare | + | * [[robotsoftware: |
- | * FroboMind | + | * [[robotsoftware: |
+ | ===== RTAI ===== | ||
+ | See [[robotsoftware: | ||
+ | |||
+ | When the installation is complete we will put an image of the installation on this page | ||
+ | ===== MobotWare ===== | ||
+ | |||
+ | ==== Configuration file ==== | ||
+ | FIXME - This file is not updated with the lastest constant calculations | ||
+ | <file xml robot.conf> | ||
+ | <?xml version=" | ||
+ | |||
+ | <!-- | ||
+ | Configuration file for SMRdemo | ||
+ | This file is for the SMR | ||
+ | |||
+ | Robot types | ||
+ | differential, | ||
+ | |||
+ | Name | ||
+ | smr, mmr, ackerbot, hako, armadillo | ||
+ | --> | ||
+ | |||
+ | < | ||
+ | type=" | ||
+ | name=" | ||
+ | > | ||
+ | < | ||
+ | < | ||
+ | |||
+ | |||
+ | < | ||
+ | cl =" | ||
+ | cr =" | ||
+ | w =" | ||
+ | ts =" | ||
+ | maxtick =" | ||
+ | control =" | ||
+ | /> | ||
+ | |||
+ | < | ||
+ | ts =" | ||
+ | line_gain =" | ||
+ | line_tau =" | ||
+ | line_alfa =" | ||
+ | wall_gain =" | ||
+ | wall_tau =" | ||
+ | wall_alfa =" | ||
+ | drive_kdist =" | ||
+ | drive_kangle=" | ||
+ | kp =" | ||
+ | gain =" | ||
+ | tau =" | ||
+ | alfa =" | ||
+ | w =" | ||
+ | lim =" | ||
+ | stopdist =" | ||
+ | alarmdist =" | ||
+ | velcmd =" | ||
+ | acccmd =" | ||
+ | nolinedist =" | ||
+ | /> | ||
+ | |||
+ | < | ||
+ | velscalel = " | ||
+ | velscaler =" | ||
+ | kp =" | ||
+ | ki =" | ||
+ | /> | ||
+ | |||
+ | < | ||
+ | | ||
+ | | ||
+ | | ||
+ | |||
+ | | ||
+ | | ||
+ | | ||
+ | |||
+ | | ||
+ | | ||
+ | |||
+ | | ||
+ | | ||
+ | | ||
+ | | ||
+ | > | ||
+ | <matrix name=" | ||
+ | 1 2 3 | ||
+ | 4 5 6 | ||
+ | 7 8 9 | ||
+ | </ | ||
+ | <matrix name=" | ||
+ | 12 22 32 | ||
+ | 42 52 62 | ||
+ | 72 82 92 | ||
+ | </ | ||
+ | <matrix name=" | ||
+ | 14 24 34 | ||
+ | 44 54 64 | ||
+ | 74 84 94 | ||
+ | </ | ||
+ | </ | ||
+ | |||
+ | </ | ||
+ | </ | ||
+ | ===== FroboMind ===== | ||
+ | ==== Launchfile ==== | ||
+ |