Re: [Gumstix-users] Advice integrating several sensors

[Dave H. <dhy...@gm...>]

Hi Marq,

> I am still wondering how I am going to setup the rc receiver. Should I add
> code to the i2c-io program to calculate the servo commands from the remote
> (on the robostix side) or should I use the gumstix figure this out with the
> i2c-io program and make a script file similar to your servo one you made?

Hmm. I was assuming that your control program would be written in
C/C++. Anything I've done as scripts, and even i2c-io are really just
demonstration code. I would expect a "real" robot to use the same
libraries as say i2c-io does, but I would have the C code sending
commands, and not be running from a script.

I would also create my own high level commands and send those down,
and not send down direct register manipulations (this feature of
i2c-io is primarily for demonstration/debugging). Your high-level
commands could even include a time element, so rather than changing to
Position B right now, it could do it gradually over some time period
to give smoother control. That's the kind of thing that would be great
to offload onto the robostix.

Obviously, if you're receiving the commands on the robostix and also
driving the servos, then having the robostix do the work will give
less latency.

You may want to have the host send down some type of filter (scaling,
offset or whatever) and have the robostix actually do the
transformation.

-- 
Dave Hylands
Vancouver, BC, Canada
http://www.DaveHylands.com/