Object Oriented Mobile Robot Model II
OOMRM-II Version 5.75

Description

Latest News

• Add C328 Camera Module.
• Architecture changes in communication and JAUS library.

Setup

The setup will take you through installing the library and making a new project for it. It assumes you will be using the Cygwin environment.

1. Overview
2. Installation
3. Compiling the OOMRM Library
4. Compiling and Running an Application

OOMRM Architecture and Design Documentation

The following explains the overall design and use of the library and the lower level hardware objects available.

1. Architecture.
   • Global Function Codes
   • Teleoperation
   • RTOS Dependencies
2. Library Detailed Design
   1. Pure "C" includes
   2. Coordinate Systems
3. I/O Subsystem
4. Navigational Design
5. Error handling/Inter-object communication.
6. SIM & TPU Priorities and TPU Channel Utilization
7. Interrupts, Shared Memory, and Critical Sections
8. Persistent Storage (Shared Memory) Layout
9. Design Limitations
10. Lessons Learned

Library Documentation

The following provides documentation for all classes and structures within the OOMRM library. The Hardware API and mapping API are documented seperately.

1. Mapping API Documentation
2. Hardware API Documentation

OOMRM Simulator

The OOMRM Mobile Robot simulation allows testing of navigational algorithms. Recently added ability to navigate using A* heuristic; the path generated will be outlined on the simulator.

1. OOMRM Simulator User's Guide (out of date) (Mostly same as this site).
2. Brief Overview of Robotic Simulators

OOMRM Development Environment

The following explains the components in the MRM standard environment and any differences that may exist for the OOMRM library.

1. Overview of boot sequence
2. OOMRM Customized Template Makefile
3. OOMRM Linker Script
• mrm_crt0
4. Where is libmrm.a?
5. OOMRM address space usage.
6. CPU32BUG.

Acknowledgements

I wish to thank the following people for also sharing code segment's:

• Dafydd Walter's for his Game Boy camera code (GNU LGPL).
• Michael Yeh for his A* and PriorityQueue implementation (GNU LGPL)
• SGSerial class Written by Curtis Olson, from SimGear library (GNU LGPL) (http://www.simgear.org/)
• PortAudio is a free, cross platform, open-source, audio I/O library; used for driving the oSpeaker class (http://www.portaudio.com)

  NOTE: Sound not working yet in OOMRM due to RTOS conflicts.

• dxflib - dxflib is an open source C++ library mainly for parsing DXF (autocad) files (http://www.ribbonsoft.com/). Used to import/convert DXF files to scene files.
• Doxygen: A package by Dimitri Van Heesch for automatically creating HTML documentation from code comments by (http://www.stack.nl/~dimitri/doxygen/).
• HTMLDOC: By Michael Sweet for converting the HTML documentation into PDF (http://www.easysw.com/htmldoc/)
• Michael Barr and Christopher Brown for the little/big endian macros.
• Pavel Pech for the uC/OS-II simulator(WCOS) and shared memory support (WSIM) (No Commercial Use) (http://wsim.pc.cz/)
• Wikipedia Adler-32 checksum algorithm (http://en.wikipedia.org/wiki/Adler-32)

BUGS/ENHANCEMENTS