====== Armadillo Scout Software ======
    *Ubuntu 11.10
      * Latest kernel
      * RTAI 3.8.1, Linux Kernel 2.6.32.57
    *[[robotsoftware:mobotware:welcome|MobotWare]]
    *[[robotsoftware:frobomind:welcome|FroboMind]]
    *[[robotsoftware:ros:ros|ROS Electric]]
    *Can4Linux
    *Git 1.7.6.3 

For information on installation see [[robotsoftware:mobotware:mobotwareinstall|Install MobotWare]], [[mobotware>Install_on_(K)UBUNTU|Install MobotWare]], [[frobo>FroboMind:Installation|FroboMind Installation]].
=== Control Software ===
  * [[robotsoftware:mobotware:welcome|MobotWare]]
  * [[robotsoftware:frobomind:welcome|FroboMind]]
===== RTAI =====
See [[robotsoftware:mobotware:rtai|RTAI and MobotWare]] on how to install RTAI on FroboBox.

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="1.0" ?>

<!--
Configuration file for SMRdemo
This file is for the SMR

Robot types
differential, ackerman

Name
smr, mmr, ackerbot, hako, armadillo
-->

<robotinfo
  type="differential"
  name="armadillo"
>
   <debug/>
   <speak  />
 
   
   <odometry
    cl		="0.00312"
    cr		="0.00312"
    w		="1.31"
    ts		="0.01"   
    maxtick	="1000"
    control	="0"
   />

   <motioncontrol
    ts  	="0.01"
    line_gain	="0.05"
    line_tau 	="10"
    line_alfa	="0.3"
    wall_gain	="1"
    wall_tau	="0.7"
    wall_alfa	="0.2"
    drive_kdist	="4.8"
    drive_kangle="2.25"
    kp		="10"
    gain	="1"
    tau		="0.16"
    alfa	="0.2"
    w		="0.26"
    lim 	="0.2"
    stopdist	="0.18"
    alarmdist	="0.1"
    velcmd	="0.3"
    acccmd	="0.3"
    nolinedist	="0.2"
   />

   <motorcontrol
    velscalel	= "100"
    velscaler	="100"
    kp		="66"
    ki		="10"
   />  
   
   <filter
   type="EKF"
   run="1"
   use="0"  

   size_input="2"
   size_state="3"
   size_noise_process="2"

   size_output="2"
   size_noise_output="2"

   measurementnoise_std_x="0.1" 
   measurementnoise_std_y="0.11"
   processnoise_std_stearingangle="0.01" 
   processnoise_std_dist="0.02" 
   >
      <matrix name="A" size="3 3" type="double">
         1 2 3
         4 5 6
         7 8 9
      </matrix>
      <matrix name="B" size="3 3" type="double">
         12 22 32
         42 52 62
         72 82 92
      </matrix>
      <matrix name="C" size="3 3" type="double">
         14 24 34
         44 54 64
         74 84 94
      </matrix>
   </filter>
   
</robotinfo>
</file>
===== FroboMind =====
==== Launchfile ====