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41_ROBOT BUILDER IN LISP

41_ROBOT BUILDER IN LISP

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This document is a tutorial guide on programming a Robobuilder (1) series humanoid robot using Lisp based dialect called LSharp.NET (2) (or L#). It will explain the basics of Lisp – although rather briefly – if the reader has no knowledge of Lisp you may well want to look at other books and websites that cover the Lisp language in more detail. This guide will then look at how to control the Robobuilder robot remotely from a PC using .NET. It will show how to control individual servos on the robot, and access its sensors such as the distance sensor and the accelerometer. It then looks at advanced control techniques such as dynamic control of a gripper, using the distance sensor for navigating a maze and accelerometer for auto-balance control. Later chapters deal with interfacing with Windows to provide simple graphics and different input methods such as joystick and speech libraries to control the robot. The final chapters cover a basic introduction to some AI techniques to improve the intelligence of your robot. This document has been based on use of LSharp.Net (L#), a dialect of Lisp built using .NET framework. Its big advantage is its ability to hook into .NET windows libraries including the standard ones such as “System.Windows.Forms” and also DirectX and Speech (.Net V3) and my own RobobuilderLib.dll for controlling the robot. All the files required to run the code in the document can be download from the internet and links can be found in Appendix B. A summary of the Lisp/L# functions is Appendix A Throughout the document are code examples and example sessions. Lisp/L# is an interactive and immediate language and the reader is encouraged to read and try the examples out at the same time. In the examples user input is colour blue and application program output coloured green.
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