Application files distribution

Next, the necessary files of the basic applications are listed, explaining it's function.

• robotgui.tcl : Application user interface developped in TCL/TK.
• There is one directory for each DAC, with the developed drivers example programs:
  • 812: A/D converter.
  • 833: Encoders.
  • 6208: D/A converter.
  • jr3: Force sensor.
• rtto6208: User space program that allows kernel modules use 6208 Linux driver.
• real time modules for controlling the robot:
  • controller.c: Controller's module having all the controllers implementations, PIDs, PIs, etc...
  • moves.c: Module containing all the different robot arm moves and trajectory generation for them.

  • util.c: module containing all the auxiliary function implementations.
  • drivers.o: Linking real time drivers of data acquisition cards 833/833drive.o 812/pcl812.o jr3/jr3ft.o into one module.
  • robot.c: Main application module. It is listening from a FIFO user orders like moving the robot arm,switching reference type, changing controllers period or sending debugging information thorough a FIFO.
  • robotmodule.o: Final loadable application module. Composed by robot.o util.o controller.o moves.o drivers.o

• sendcommand.c: User space program that allows to send orders to real-time modules (robot.c) like moving the robot arm,switching reference type, changing controllers period or debugging the application.
• debugcontrollers.c:User space program that allows to read information about reference, motors speeds, robot arm position, force sensor values and control actions from the real time modules.
• rtlsched.c: Modified version of the rtlinux scheduler, so it inform about task activations and execution times.
• reader.c: Program that read from a fifo schedule events sent by the scheduler.