When developing robots with ESOS, it is easy to divide the robot's functionality into "tasks." Thus is the power of ESOS's ability to directly divide code into tasks. Furthermore, some of the core functionality of a typical robot has been packaged into easily configurable ESOS libraries. Visit the configuration header files below for further details.
- servoconfig2.h: Servo Library able to support up to 7 independent servos on a single timer
- motorconfig3.h: Motor Library able to support up to 8 independent servos on a single timer
- comm_config.h: Comm Library for serial communcation with the PIC, intended for use with Matlab
Simple implementations of the
robotics library have been developed in order to give examples of their use.
- esos_servo_example.c: Example of the Servo Library, will rotate a servo over its full range of motion every two seconds
- esos_motor_example.c: Example of the Motor Library, will exercise a motor over its possible states (forward, reverse, coast, brake high, and brake low) for three seconds each
- esos_comm_example.c: Example of the Comm Library, will respond to well formed packets and echo back incremented values
