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Software Implementation:
All of the software used in programming the RoadRunner is coded in the JAVA programming language. Like C++, JAVA is a high-level language that uses libraries and standardized functions that make the programming process much easier than in other languages such as Assembly. Unlike C++, JAVA is based almost entirely on classes. This allows the programmer to write simple programs that can then be combined with other such programs to make a much more complicated ones. The RoadRunner, in particular is programmed using six generalized libraries that control the robot’s basic functions such as movement, communication, and signal I/O. These libraries, with their purposes, are listed below: • Analog Handles all analog inputs and outputs • Digital Handles all digital inputs and outputs • MotorControl Controls robot motor functions through user specific input • MotorControlFunc Controls robot motor functions by usage of other functions • PortSelect Handles access to the digital and analog multiplexers • Wireless Contains all general functions for wireless communication Using theses libraries, in conjunction with the internal JAVA libraries that allow for user input and output, more generalized programs can be written that do a variety of tasks. Specifically, a user might construct a program that uses some sort of digital input to control the robot’s movement (using the two libraries Digital and either of the two motor controls). Some specific examples can be found later in this manual in the “programs” section. | | |||||
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