whats difference in system program between RMP440 and 400

RMP 210, 220, 440LE, 440SE, 440 Omni
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faint0431
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whats difference in system program between RMP440 and 400

Post by faint0431 » Tue Sep 04, 2012 6:37 am

Do we have any introduce about the improvement on the system RMP440 , compared with 400
Will all the program we have developed on 400 can also work well on 440.

Craig
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Re: whats difference in system program between RMPX440 and 4

Post by Craig » Tue Sep 04, 2012 11:46 am

At a very high level view both systems receive motion commands and send feedback data. Migrating a code base from the 400 architecture to the new RMP440 architecture should not be a particularly difficult task, and the new system allows for much better control of the platform.

That being said, much of the software on the robot was re-written when we migrated to the RMP440 architecture and therefore any software which used to work with the 400 architecture would have to be modified to work with the new system.

To answer your question directly:
"Will all the program we have developed on 400 can also work well on 440."
No, it will have to be modified.
Craig Shaffer
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

faint0431
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need some C++ test program

Post by faint0431 » Thu Sep 06, 2012 3:58 am

we have a set of programs on rmp400, which is writen by C++, however, new rmp440 only provide a demo with python.
we cannot rewriten all these programs with python, but like to modify them according to some C++ test program for Rmp440
Could you please provide some test program with C/C++ for rmp440?

shuangliu2@cityu.edu.hk

Craig
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Re: whats difference in system program between RMPX440 and 4

Post by Craig » Thu Sep 06, 2012 2:40 pm

As mentioned in the release notes the python code is intended only to be used to guide users in developing their own systems.
We would not recommend that you change your code base over the the python, but instead, review the python code and how it sends messages to the platform. You will then be in a good position to modify your old 400 C/C++ code.

At this time we do not have a demo written in C or C++ which is available.
Craig Shaffer
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

faint0431
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Re: whats difference in system program between RMP440 and 40

Post by faint0431 » Fri Sep 14, 2012 5:20 am

we meet problem in modify our rmp400 program to 440 program:
first, we try to modify the segway 400 test program (test with a joystick), so that it can be performed in 440
and then we will try to modify our C++ program for 440.

Could you provide any help in modifying the segway rmpx400 test program for 440?

we now cannot complie this segway rmpx400 program, it said "fatal error C1083: Cannot open include file: 'canlib.h': No such file or directory"
we havn't found this file at all.
could you please send a good rmp 400 test program (can be complied well), for us to modify it to 440?
shuangliu2@cityu.edu.hk

faint0431
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Re: we need a rmp400 test program

Post by faint0431 » Thu Sep 20, 2012 6:03 am

we found that the rmp 400 and 440 usb driver are different, could you please send any information about these usb driver.
it may be used to modify the program on these parts of usb driver

Craig
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Re: whats difference in system program between RMP440 and 40

Post by Craig » Thu Sep 20, 2012 10:53 am

We are aware that the old RMI demo program has problems compiling on newer versions of windows. At this time we cannot provide a different version of the demo code. The compile issues can be fixed but we do not have a new released version at this time. We do not recommend using the old RMI demo code as a development starting point as many of the drivers and utilities used by RMI demo are old and either obsolete or soon to be obsolete.

It is much easier to start with the new RMP440 demo program and make changes to suite your need. It is a easy task to port the python code over to c++.

Everything you need to know about accessing the robot from a software standpoint can be found in the source code for the demo program. This combined with the interface guide should provide you with adequate information to connect to the platform.
Craig Shaffer
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

faint0431
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Re: whats difference in system program between RMP440 and 40

Post by faint0431 » Thu Oct 04, 2012 9:32 am

In the demo source io_usb_cmd.py

import serial, time, itertools
class IO_USB:
...
try:
self.conn = serial.Serial(self.comm_port, baudrate=self.baud_rate,timeout = 0);
...
I follow the code so that I can find how the message is writen to usb and sent to the CAN.
when I check where the file "serial" is, I found that it is in python27/lib/site-pachages/serial
I think it is installed when I install the file 4, 5, 6, 7 as follows.

Please tell me more about what we do when we install the following files
4. Run pygame-1.9.2a0.win32-py2.7.msi
5. Run py2exe-0.6.9.win32-py2.7.msi
6. Unzip pyserial-2.6.tar.gz
7. From cmd.exe input python setup.py install to install pyserial

Craig
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Re: whats difference in system program between RMP440 and 40

Post by Craig » Tue Oct 09, 2012 11:43 am

I am happy to answer direct questions. However, I do not know how to respond to "Please tell me more about what we do when we install the following files".

We've run through the install many times and it typically just works. If you are having specific issues getting a module to work or the python code to execute please ask those specific questions with as much detail as possible so we can assist.

/Craig
Craig Shaffer
Principal Engineer

STANLEY INNOVATION, INC
www.stanleyinnovation.com

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