SOFTWARE

   The software consists of three main applications (so far).  This makes it easy for each of the three original designers to work on their own area of interest 

   The AI implementation of the Leaf personality, written by Bruce, is the focus of control over the robot.  This program is written in Lisp.

   Robin is writing vision software which will be developed to meet Leaf's needs.

   Alex is writing the microcontroller software as well as the Navigation and Control software for the laptop. (I'm going to call this the "N&C" software for the future)

   The applications will communicate via messages through shared memory in dll's initially.  There are other methods of communication which may be evaluated in the future.

   All software, except that in the microcontroller will run in a laptop computer under Windows XP.

    Click here to download instructions on how to install the software into your computer.

   For more about the software packages, 

   Architecture/Environment:  basic software arch & development and runtime environment

   Lisp:        The AI program in Lisp generating Leaf's personality, motivations, etc.

   Vision:    A C/C++ program using a webcam to gather images and analyse them. 

   N&C:    A C/C++  program performing general control and navigation functions.

  RComm:    Transfers data messages between N&C and Lisp

  Utilities:    Various support programs

   Microcontroller:   The real-time code performing sensor gathering,  motor PID control,  low level navigation and any other I/O.  This is programmed in C

Note:   For API information between the N&C software and Lisp, see "How it works" under the N&C link above.  For the API between N&C and the microcontroller, see the "Microcontroller software user's manual" under the Microcontroller link above.