DrRobot Jaguar Betriebsanweisung PDF herunterladen (Seite 21)

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V.19.01.12

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V. Further Development & Programming

The Jaguar Control program

The Jaguar Control program is written with Visual Studio 2008 express (in C#) under .Net 3.5 framework. You

could download the development tools (Visual Studio 2008 express under .Net 3.5 framework) free from

Microsoft. Please refer to the “Dr Robot Application Development Notes on C# Programming for Robot Control”

for further information.

The control program uses the supporting components and libraries that should have been installed when you

install the control program from the installation CD:

DRROBOTSentinelCONTROL.OCX: Please refer to “WiRobot SDK API Reference Manual.pdf” for

detail.

WiRobotGateway.exe

3. AXIS Media Control Library Set These are the camera control component for the AXIS Mini Camera

(P/N: AXCAM-A) used for Jaguar robot. Please refer to “AXIS Media Control SDK Help” for detail.

Motion Control/Sensing System

Jaguar comes with a special version of PMS5005 as its motion control and sensing board. It follows the Dr Robot

WiRobotSDK protocol. User could control and access Jaguar by Dr Robot ActiveX control

(DrRobotSentinelActivexControl.ocx) and WiRobot gateway program.

Based on the protocol, you could develop your own program for any operation system. You could request

protocol sample code from Dr Robot using C++/Java. You should also contact Dr Robot with any questions

regarding SDK API and protocol.

The communication port is connected at Ethernet module-I port 1.

Gateway program will connect to this board at 192.168.0.60, port 10001.

Here is C# sample code to control Jaguar System with ActiveX control,

myJaguar is DrRobotSentinelActiveXControl.

Arm and drive motor control:

private void myJaguar_MotorSensorEvent(object sender, EventArgs e)

{

//here is front arm ouput pwm value

armMotor[0].pwmOutput = myJaguar.GetMotorPWMValue1();

//here is front left arm encoder reading

armMotor[0].encoderDir = myJaguar.GetEncoderDir1();

armMotor[0].encoderPos = myJaguar.GetEncoderPulse1();

armMotor[0].encodeSpeed = myJaguar.GetEncoderSpeed1();

//here is front right arm encoder reading

armMotor[1].encoderDir = myJaguar.GetEncoderDir2();

armMotor[1].encoderPos = myJaguar.GetEncoderPulse2();

armMotor[1].encodeSpeed = myJaguar.GetEncoderSpeed2();

forwardPower = myJaguar.GetMotorPWMValue4();

turnPower = myJaguar.GetMotorPWMValue5();

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DrRobot Jaguar Betriebsanweisung Seite 21