http://www.oanda.com/cgi-bin/ncc or http://www.dna.lth.se/cgi-bin/kurt/ratesConcerning a distributor in the US, we do not have one. We had many offers but at the moment and for this important market we prefer to keep a direct contact with the customers. This allows us a better and faster support. So feel free to contact us directly... we are used to work with the US. Note that the prices amd conditions above are for the USA customers. There are some other distributors. (last modified 7-1-97)
K-Team SA Chemin de Vuasset CP 111 1028 Preverenges, Switzerland Bank: Banque Cantonale Vaudoise, Lausanne, Switzerland Account number: 902.91.32
do {
for( i=0; i<8; i++) {
Sensor[i] = sens_get_reflected_value(i); /* Read sensor activation */
}
... your treatement of the sensory informations
for( j=0; j<2; j++) {
mot_new_speed_pid(j, Motor[j]); /* Set motor speed */
}
} while (TRUE);
This program can be compiled for the Khepera processor, downloaded into
Khepera and executed. The big disadvantage of this approach is that you
cannot monitor in a good way what is running on the Khepera (no monitor
on it....).
For people who want to operate in this way we can provide a package with
the Khepera libraries for the GNU C public domain compiler. Despite the
fact that there are some hacker using it on a PC, we do not support it
at the moment on PC platforms, but only on UNIX ones. Linux is supported.
The documentation and the libraries to complete the GNU C public domain
compiler cost 300.- Swiss Francs. Nand the robot answers
n,1,12,386,0,12,62,1023,0where all the numbers are the values coming from the proximity sensors. On your computer you can process these values following your algorithm and have, as result, the values of speed that you want to apply to the motors. To send the motor command to the robot you can simply send on the RS232 the command:
D,3,-2and the robot will apply the speed 3 to the left motor and the negative speed -2 on the right motor. Then he will answer:
dtelling that the order has been executed. This second way to control the robot by using RS232 ascii commands is very powerful because it make possible to control the robot from a program running on your computer, in a very simple way. The progam running on your computer can be a pure C program that you have written yourself and that is able to manage the RS232, or can be a MATLAB module that sends and processes the commands on the RS232, or a LabVIEW module doing the same operations. All what these program have to do, is send and process strings on the serial RS232 line.
The advantage in using LabVIEW is that you can create a visualisation
tool in some minutes. The same in a C environment would take much more
time and competences. The disadvantage of the LabVIEW environment is
the price (quite expensive but depends on the machine. For informations
on this you can contact National Instruments www.natinst.com) and the
fact that this environment is quite slow in execution. Moreover,
LabVIEW is very general, and do not has all mechanisms that you can
find on a specific environment like a robot simulator or your soft.
There is a new aspect. There is now a student edition of LabVIEW which is
very low cost so that the "expensive" argument is obsolete....(7-2-97)