Proxim RangeLAN2 7920 Instrukcja Użytkownika Pobierz pdf (Strona 48)

The actual calculations to determine the location of the robot and the

robot’s desired location are based on converting a GPS location to an equivalent grid

point. The latitude in meters is determined by:

(11) LATm = ((LATDEG*60) + LATMIN)*1852.

The Longitude in meters is:

(12) LONGm = -((LONGDEG*60) + LONGMIN)*1852*cos (.628 ).

The cosine is used to correct for the difference in the sizes of a degree of latitude and

longitude at the location of NPS. To make the program fully functional worldwide, the

cosine correction must utilize the actual location of the robot and the software must be

further modified to recognize east longitudes and south latitudes.

C. CONTROL INTERFACE

A goal of the SMART project was to construct a web based GUI that would both

easily interact with the robot control program, form a user friendly interface, and be

relatively easy to construct using available technologies and accessible instructor

expertise as needed. Various programming methods were investigated including CGI

scripts, PERL scripts and JAVA, based on the advice of NPS staff members from the

computer science department it was decided to use JAVA.

1. JAVA Application

The JAVA application created is a multi-layered window utilizing sliders,

pushbuttons and interactive text-boxes as a method of controlling and interacting with the

SMART platform. JAVA automatically handles the multitasking issue, the user sets up

“action event listeners” which will allow a thread to sleep until the button is pushed or the

slider is moved. Similar to the process of programming in Dynamic C the first actions in

the initialization of a JAVA program is to call needed library functions and then to

initialize variables. Once this initial setup is complete, the JAVA program can set up the

control interface.

The control interface is a multi-layered window that has 2 sub-panels; the first

panel is the manual control panel (figure 20), which has motor control sliders for control

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Proxim RangeLAN2 7920 Instrukcja Użytkownika Strona 48