Overview

The object oriented mobile robot model (OOMRM) is a library built around the Motorola 68332 microprocessor. Although designed for the 68332, it also contains a mobile robot simulator that can be installed and run independently of the hardware. Although, the simulator is not intended as a stand alone application without the need for coding; extensive coding is required to get full benefit from the library and the simulator. The library consists of the following components:

  1. Utilities : general routines. The only OOMRM include allowed is <types.h> for type definitions, but try to minimize where possible. [src/utility]
  2. Memory Module : Has two basic functions. In the host, it sets up the shared memory and simulation support. For embedded operation, it sets up persistent storage through the battery backed RAM option of the MRM. The host shared memory uses the WSIM package (RTOS or non RTOS); the RTOS support uses WCOS for uC/OS-II emulation. [src/host/wcos]
  3. Hardware layer : Reusable plug-and-play type robotic components. Requires only utilities, memory module, or other hardware components for operation. [src/hardware]

    NOTE: host simulation may require some model components

  4. uC/OS-II module : allows for preemptive RTOS support. [src/ucos]
  5. Base (navigational) model : All the basic mobile robot model [src/model]
  6. communication model (DASI) : Communications protocol support [src/dasi]
  7. host modules : plug in modules for expanded capabilities; this includes:

Note that embedded operation requires a seperate 68332 cross compiler.

System Requirements

Probably the minimum requirements should be equivalent to a Pentium about 400Mhz. WCOS/WSIM only runs on Windows currently, and thus this restricts the simulator to Windows. The other components should compile under Windows or UNIX/Linux.

Licenses

The newly added DASI library is a utility library for robot communication and other algorithms. At this time, it is packaged together with the OOMRM library but is licensed differently (Ref. OOMRM License and DASI License). In fact, there are many different packages included within OOMRM and all have different licenses; most are GNU GPL, but some like uC/OS-II and WCOS/WSIM are for educational use only. Thus, don't even think about commercial use until investigating the license each individual package.