khepera(1)

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 demonstration purpose. Also a imparative demo 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"

-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
xforms(5)

BUGS
no bugs discovered

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