Proxim RangeLAN2 7920 Uživatelský manuál stáhnout pdf (Strana 20)

for use in the transmittance and receipt of information. Future plans for a WEB interface

will eventually allow remote operators to control the platform from a secure location via

a standard web browser.

c. Basic Operation

The heart of the SMART platform is the “ALLTASK.C” program, which

is compiled to the BL2000 microprocessor. The program communicates with the client

JAVA control application via a standard wireless Ethernet link. Rs-232 serial channels on

the BL2000 are used to communicate with the onboard GPS and Digital Compass. Both

devices provide position and heading up-dates once per second.

Movement commands, which include speed, course and GPS waypoint

positions, are initiated via the client Java application and are sent to the robot as Ethernet

packets over a wireless connection. The BL2000 microprocessor interprets these

commands and, in turn, drives the plant (motors) via a Pulse Width Modulator (PWM).

Remaining digital I/O and serial ports on the BL2000 are reserved for

future expansion of the basic platform and communications with future sensor arrays.

(See figure 4.)

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Proxim RangeLAN2 7920 Uživatelský manuál Strana 20