Tommy Lin 的 Hobby: 課目: Robonova 機器人換心手術.

課目: Robonova 機器人換心手術.
說明: 控制板: Roboard RB-100.

控制板作業系統: Windows XP Embedded(開機超快~)

軟體開發環境:
Windows 7
Visual Studio 2008
//============
先列出 Demo 程式 RoboRC.exe 中的命令/說明列表..

Parameters

-CH xxxxxxxx or --channels xxxxxxxx:
    Specify the PWM channels to use
-t xxxx or --time xxxx:
    Specify the time for realtime frame capture,
    frame replay, and demo play
-SV [Generic, KONDO, HiTEC] or --servo [Generic, KONDO, HiTEC]:
    Specify servo motors
-OW or --overwrite:
    Always overwrite the file of storing captured frames
-NM or --nomessage:
    Not display messages when capturing or replaying frames,
    being useful to speed up CAPTURE_RT and REPLAYS_RT modes

//============
Usage examples

RoBoRC.exe CAPTURE(or 0) 0000.txt -CH 000000ff:
//Capture a single frame of servo positions on channels 0~7.
//The frame is saved to 0000.txt.

RoBoRC.exe REPLAY(or 1) 0000.txt -CH 000000ff -t 800:
//Replay the single frame of servo positions in 0000.txt.
//The frame is replayed on channels 0~7 by 800ms.

RoBoRC.exe CAPTURES(or 00) 0000.frm -CH 0000ffff:
//Capture multiple frames of servo positions on channels 0~15.
//The frames are saved to 0000.frm.

RoBoRC.exe REPLAYS(or 11) 0000.frm -CH 0000ffff -t 500:
//Replay the multiple frames of servo positions in 0000.frm.
//Each frame is replayed on channels 0~15 by 500ms.
//===========
RoBoRC.exe CAPTURES_RT(or 000) 0000.frm -CH 0000ffff -t 300:
//Capture in realtime multiple frames of
//servo positions on channels 0~15 per 300ms.
//The frames are saved to 0000.frm.

RoBoRC.exe REPLAYS_RT(or 111) 0000.frm -CH 0000ffff -t 100:
//Replay in realtime the multiple frames of
//servo positions in 0000.frm.
//Each frame is replayed on channels 0~15 by 100ms.

RoBoRC.exe demo_directory -t 10000:
//Load the Demo in demo_directory and
//set the action idle time to 10000ms (which means that
//the servo power will be turned off if the robot
//idles over 10s after finishing an action).

//===========
上面的說明一定要仔細閱讀..
在 Hitec 8498HB Servo 中的參數使用範例:
RoboRC CAPTURES 0000.frm -CH 0000ffff -SV -OW
測試 feedback position 功能正常..
影片:影片: ( 1080p HD 高清版 )

修改原廠程式RoboRC 中的一些小 bug
1. Initializing Servo 時, 顯示種類名稱錯誤.
2. 捕捉動作時的 servo 顯示種類名稱錯誤.
3. servo_idx 內定值 = 2 (這個一定要修改, Hitec 8498HB 才能正常 play frames ).
在 RoboRC.cpp Line 39.
以上~ 原廠附的 LIB, Demo 程式都已經測試無誤了,
請安心服用..

移植心臟照片, 由於忠實呈現移植畫面,
可能過於血腥, 請斟酌收看,
尤其未成年者,須由師長陪同.