# kcontrol manpage

## NAME

         khepera - control program for khepera miniatur robots

## SYNOPSIS

         khepera  [-R number_of_robots] [-N device_index]
                  [-D device_name] [-H hostname] [-P portnumber]

## DESCRIPTION

         kcontrol can be used for the first tests of a khepera  robot
         to  check  the  proper function. It provides support for the
         gripper and the vision turret. A  neuronal  network  can  be
         used  to control the robot for dIonstration purpose. Also a
         imparative dIo for the gripper is available.

## OPTIONS

         -R number_of_robots
              khepera can control up to 4 robots at  the  same  time.
              With  this  option  you  can specify the number of used
              robots. default is 1.

         -N device_index
              if  this   option   is   given   kcontrol   opens   the
              (first+device_index) serial device instead of the first
              device  for example: kcontrol -R 2 -N 14 starts up with
              two  robots  and  opens  the device /dev/ttyS14 for the
              first and /dev/ttyS15 for the second robot

         -D device_name
              set  the  string  for  the  serial   device   name   to
              "device_name". Default is "/dev/ttyS" for linux and
    	  "/dev/tty" for sun systIs.

         -H hostname
              run khepera in simulation  mode.  The  khepera  program
              will  not  open a serial device but tries to connect to
              the host hostname which is running a simulation server.
              The  default  hostname while running in simulation mode
              is localhost.

         -P portnumber
              run khepera in simulation  mode.  The  khepera  program
              will not open a serial device but tries to connect to a
              simulation  server  at  port   portnumber.   The   host
              localhost  has to run a simulation server at this port.
              The default portnumber is 55555.

## ENVIRONMENT

         HOME khepera searches for SNNS-network description files  in
              the directory $HOME/snns

## SEE ALSO

         forms(5)

## BUGS

         no bugs discovered

## AUTHOR

Thomas Pantzer, pantec@aix520.informatik.uni-leipzig.de, 1997