Software overview

Robotino Hardware

By "Robotino Hardware" we mean Robotino's wheel, motors, motor control board, PC104 and extensions connected to Robotino.

controld

The controld is communicating with the motor control board via the PC104's first serial line. The controld is using RTAI in order to be able to receive the data from the motor control board at the necessary speed.

Location: /usr/local/OpenRobotinoAPI/1/daemons/controld

gyrod

The gyrod is reading data from a gyroscope connected to Robotino. It writes the absolute angle given by the gyroscope to the shared memory segment. This data is then used by the controld to improve Robotino's odometry.

Location: /usr/local/OpenRobotinoAPI/1/daemons/gyrod

nstard

The nstard reading/writing data from/to a NorthStar sensor connected to Robotino. Data is read/written from/to the shared memory segment.

Location: /usr/local/OpenRobotinoAPI/1/daemons/nstard

laserd

The laserd is reading data from a laser rangefinder connected to Robotino. The laserd is setting up a TCP server listening at port 8280. The rec_dataexchange_lt library can be used to read/write data from/to this service.

Location: /usr/local/OpenRobotinoAPI/1/daemons/laserd

armd

The armd is reading/writing data from/to an arm connected to Robotino. The armd is setting up a TCP server listening at port 8180. The rec_dataexchange_lt library can be used to read/write data from/to this service.

Location: /usr/local/OpenRobotinoAPI/1/daemons/armd

stated

The stated holds a shared memory segment services on Robotino a communicating with. It reads /etc/robotino/robotino.xml to set parameters in this shared memory segment.

Location: /usr/local/OpenRobotinoAPI/1/daemons/stated

lcdd

The lcdd is Robotino's display driver. It prints messages to the display and reads the displays keys.

Location: /usr/local/OpenRobotinoAPI/1/daemons/lcdd