Proxim RangeLAN2 7920 Instrukcja Użytkownika Pobierz pdf (Strona 40)

IV. SOFTWARE

A. OPERATIONAL THEORY

The control mechanism for the SMART robotic platform depends upon a smooth

interaction between two programs and the various threads running within these programs.

The control interface for the SMART robot is a JAVA created GUI with sliders,

pushbuttons and multiple interactive text fields. The program that actually controls the

robot is a cooperative multitasking program in Dynamic C that interacts with both the

JAVA application and the robot’s hardware package.

Communication between the two programs is handled with standard TCP/IP

sockets, (see figure 17). When a socket is established between two programs the

programs are able to communicate by sending packets of information over the Internet.

The JAVA and Dynamic C programs interact to establish five different sockets to

perform various tasks.

• The Motorsock socket is established to allow for direct control of the

motors in a manual mode, this socket is established upon power up and is

persistent until the robot is secured.

• The Headsock and GPSsock sockets are established to facilitate the

sending of data from the compass and GPS cards, these sockets are

established when needed and are not persistent.

• The DheadLocsock is established to allow the user to send a requested

heading for movement or a GPS waypoint to drive to; this socket is also

not persistent.

• The Stopnavsocket is established to allow the user to manually stop the

robot’s navigation process when desired, the socket is non persistent and is

only established momentarily to reset values which will stop the

navigation costate.

The use of both persistent and non-persistent sockets was based on programmer’s

preference and a desire for direct control of communication links that were being opened.

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Proxim RangeLAN2 7920 Instrukcja Użytkownika Strona 40