Dear John,

thank you. It was my mistake, I was looking at the "DEC" not "DES" manual...

Thank you for your valuable work and we have to be patient waiting for the "desapi" files.

Best regards,

On Tue, Oct 27, 2009 at 09:12, John Zaitseff <> wrote:
Dear Piotr,

> where can we find the mentioned desapi.c and "desaphi.h" files?

That should have been in the first e-mail labelled Part 1; it may
have been held up by the Player/Stage mailing list moderator as
being "too big".  I can send it to you directly if that e-mail does
not come through quickly enough.

> Looking at the DES 70/10 manual it seems that the motor speed is
> set up by analog voltage level.  This unit does not seems to have
> serial port which your driver is using.  Can you tell how do you
> interface this motor controller with serial port?

Actually, it DOES have a serial port: see pins 18-20 on the
controller, described on page 12 of the DES 70/10 Operating
Instructions.  It also has a CAN-bus interface, but we are not using
that.  You can program the DES to operate either from the analog
voltage inputs, or from commands sent to it via the serial port.
The test program (desapi-test.c) in Part 1 shows how to do this
without using Player, if that is what you want to do.

I hope this helps!

Yours truly,

John Zaitseff

John Zaitseff                    ,--_|\    The ZAP Group
Phone:  +61 2 9643 7737         /      \   Sydney, Australia
E-mail:   \_,--._*

Piotr Trojanek