
Figure 16. BL2000 Control Program
1. Motor Control
The motor control function of the Alltask.c program is used during manual
control operations of the robot. A socket is established with the JAVA control
application and a packet is received with a data stream that the motor control costate
interprets. The JAVA application sends a comma delimited data stream, the first token is
a placeholder, the second is the motor designator, and the third is the speed and direction
Variables
Page Files
MAIN
Costates
Control
Compass
Update
Navigate
Navigation
Server
Function
Function
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