README.md

What is YP-Spur?

YP-Spur is a mobile robot motion control software with coordinate frame based commands. See Control Architecture to learn the detail of the control system.

Index

Japanese version is here.

• Home
• Parameter File (ja)
• Control Architecture
• Manpage
• Embedding Parameters
• Auxiliary Files (ja)

Quick Start Guide

Install

• Install gcc, C standard libraries and cmake
• Build and install YP-Spur

$ git clone https://github.com/openspur/yp-spur
$ cd yp-spur
$ mkdir build
$ cd build
$ cmake ..
$ make
$ sudo make install
$ sudo ldconfig

Try branched version

• First of all, learn Git!
• Find a branch or tag name at https://github.com/openspur/yp-spur/branches or https://github.com/openspur/yp-spur/releases.
• Go to yp-spur directory where you have cloned.
• Checkout the desired version.

$ git fetch origin
$ git checkout -b [branch name] origin/[branch name]

• Then, make and make install in the build directory.

Use YP-Spur

• Open two terminals
• Run ypspur-coordinator in terminal 1 and keep it running

$ ypspur-coordinator -p PARAMETER_FILE.param -d /path/to/device

• Run user program in terminal 2