Week 8

Week 8

Day 1

On this day I started to look at the options I had left so I could have some type of product done by the end for my individual project. So I began to really analyze the eeDHcontroller and the p2os drivers and I found that the drives declare what interfaces it wants to use for that specific device. So basically I came to the conclusion that I had to create a driver for the device I wanted to use.

Day 2

I began this day by going through the file system for player/stage and found the files for the limb interface and gripper interfaces. So basically I decided to create an interface that incorporated the limb and the gripper interfaces which will be called ArmManip.

Day 3

On this day I created those files. ArmManip consisted of 4 files: 066_armmanip.def - a definition file, armmanipproxy.cc – a proxy file which creates the command, dev_armmanip.c – a device file for the proxy file, pv_dev_armmanip.c – a file which is used with playerv(player viewer) which allows you to move the device from the player viewer. Later this day we had our weekly seminar on the GRE. After the seminar I began to work on the definition file and finished that.

Day 4

On this day I began to continue my work by starting on the proxy file with the commands for the limb and gripper. Some of the commands in the file are like: open, close gripper, I am also am working on where the arm will have commands like move left, move right, up, down, etc. Later we had our update meeting with Dr. Anderson to tell her where we are at and she gave us suggestions for our research posters. I spent the rest of the day working on my poster.

Day 5

I began this day by continuing to work on the proxy file for the arm manipulation. I ran into a couple of problems trying to combine some of the different commands for both the limb and gripper. I got many of the problems solved and got half of the proxy done.

Goals working on:

Interface for arm

Begin: May 30, 2010
End: July 31, 2010