Add license headers and license document. Truncate history here.

.gitignore

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+# Build artifacts
+*.o
+
+# Binaries
+build/*
+gui/build/*
+
+# Scons temporary files
+.scon*
+
+# Doxygen
+doc/html
+
+# QtCreator temporary project files
+SmartServoFramework.config
+SmartServoFramework.creator*
+SmartServoFramework.files
+SmartServoFramework.includes
+
+# Qmake temporary project files (gui)
+gui/SmartServoGui.pro.*
+gui/Makefile

LICENSE

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+                   GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+  This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+  0. Additional Definitions.
+
+  As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
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+other than an Application or a Combined Work as defined below.
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+Library.

README

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+SmartServoFramework 0.9
+=======================
+
+## Introduction
+
+This is a C++ multiplatform framework used to drive "smart servos" device like Dynamixel or HerkuleX actuators.
+Linux, Mac OS and Windows operating systems are supported. All you need to begin moving stuff around is at least one servo, a serial port adapter and a C++/11 compiler!
+
+> Dynamixel devices from [Robotis](http://www.robotis.com/) and HerkuleX devices from [Dongbu Robot](http://www.dongburobot.com/) are high-performance networked actuators for robots available in wide range of sizes and strengths.  
+> They provide adjustable torque, speed, and response, various feedback like position, load, voltage and temperature...
+
+## Prerequisite
+
+### Compiler
+
+You need a C++/11 capable compiler. That includes:
+
+* GCC >= 4.6  
+* Clang >= 3.0  
+* XCode >= 4.6  
+* MSVC >= 2012  
+
+### Serial link
+
+This framework can use any combination of RS-232 ports, USB to TTL adapters, RS-485 adapters... but the servo devices needs the right link!
+
+First make sure that you can access your serial port:
+If you are running Windows you will need to install the [FTDI driver for the USB2Dynamixel device](http://www.robotis.com/xe/download_en/646927) or the official [FTDI driver](http://www.ftdichip.com/FTDrivers.htm).
+You may also need other drivers depending on your adapter (like the [CP210x](http://www.silabs.com/products/mcu/pages/usbtouartbridgevcpdrivers.aspx)).
+If you are running Linux, your user account will need to be in the _'dialout'_ and/or _'uucp'_ groups to access serial port:
+> $ sudo useradd -G dialout,uucp $USER
+
+Latency over the serial port will limit the number of instructions you can send each second even more than bandwidth limitations.
+To minimize traffic on your serial port (if using FTDI chips):  
+- Make sure you have set the "Status Return Level" to '1' to minimize the number of response packets (if you do not need them), or even '2' to disable them all.  
+- If you are using Dynamixel devices, you may want to reduce the "Return Delay Time" value to a minimum, from the default of '250' to something like '5'.  
+- You can also use [these tips](https://projectgus.com/2011/10/notes-on-ftdi-latency-with-arduino/) to reduce latency on serial ports!  
+
+#### Serial link (Dynamixel servos)
+
+* USB2Dynamixel: Official device that can manage regular RS232, RS485 and TTL communications.  
+* USB2AX: Unofficial device designed to manage TTL communication only.  
+* "Home made" TTL half-duplex device: (LINK?)  
+
+> Note: Regular "full-duplex TTL" converters will NOT do the trick for "half-duplex TTL" Dynamixel servos (AX series, MX "T" series, XL-320).
+
+#### Serial link (HerkuleX servos)
+
+You need a serial port with a regular TTL converter to use HerkuleX devices.
+
+## Framework
+
+This framework can be used with any Dynamixel or HerkuleX devices. Please note that the Dynamixel PRO serie has never been tested (because I have no testing devices).
+
+* **Simple API:** Use this mode to get or set a value to a servo by sending a simple instruction and waiting for the answer.  
+* **Controller API:** Setup a controller and attach servo instances to it. Manipulate servo objects and let the controller sync its values with the actual servo hardware in a background thread with a fixed frequency.  
+
+### Documentation
+
+You can dynamically generate an API documentation from the source code using Doxygen. The documentation will be generated inside the "doc" directory.
+If you are running a Linux system you can easily generate the documentation from a terminal:
+> $ cd SmartServoFramework/  
+> $ doxygen Doxyfile  
+
+### Example softwares
+
+Various examples programs are available:
+
+* ex_basic_test: Very simple example that move the servo at ID 0 with the 'UP' and 'DOWN' keys.  
+* ex_simple: Control four servos with your keyboard using the 'Simple API'.  
+* ex_simple_threaded: Control four servos with your keyboard using the 'Simple API', with servos actions and keyboard handled in two separate threads.  
+* ex_controller: Control four servos with your keyboard using the 'Controller API'.  
+* ex_sinus_control: Control a servo with sinusoid curve for both speed and position.  
+* ex_advance_scanner: Scan serial ports for Dynamixel servos, for all IDs and all (but configurable) serial port speeds.  
+
+### GUI software
+
+SmartServoGui is a fully featured Qt GUI application that helps you discover devices on available serial links, get an overview of all of their registers, and easily changes their settings!
+
+## Licensing
+
+SmartServoFramework is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 3 of the License, or (at your option) any later version.
+[Consult the licence on the FSF website](http://www.gnu.org/licenses/lgpl-3.0.txt).
+
+Copyright (c) 2014, INRIA, All rights reserved.
+Emeric Grange <emeric.grange@gmail.com>
+Dominique Vaufreydaz <dominique.vaufreydaz@inria.fr>

SConstruct

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+# SmartServoFramwork build system
+# Emeric Grange <emeric.grange@inria.fr>
+
+# http://www.scons.org/
+# http://www.scons.org/wiki/IDEIntegration
+
+import sys
+import subprocess
+from distutils.version import StrictVersion
+
+
+# Initialize the environment
+###############################################################################
+
+if ARGUMENTS.get('debug', 0):
+    print "> DEBUG build"
+    env = Environment(CCFLAGS = ' -g ')
+else:
+    env = Environment(CCFLAGS = ' -O2 ')
+
+
+# Multiplatform build
+###############################################################################
+
+if sys.platform.startswith('linux') == True:
+
+    print '> LINUX platform'
+    CC_VERSION = subprocess.check_output([env['CC'], "-dumpversion"]).strip('\n')
+    if env['CC'] == 'gcc':
+        print '> Gcc ' + CC_VERSION + ' compiler'
+        if StrictVersion(CC_VERSION) < StrictVersion('4.6'):
+            print 'You need at least GCC 4.6+ to use C++11 features!'
+            exit(0)
+        elif StrictVersion(CC_VERSION) < StrictVersion('4.8'):
+            # GCC 4.6 needs a different flag to enable C++11
+            env.Append(CCFLAGS = "-std=c++0x -pthread -Wno-unused-parameters ")
+        else:
+            env.Append(CCFLAGS = "-std=c++11 -pthread -Wno-unused-parameters ")
+    elif env['CC'] == 'clang':
+        print '> Clang ' + CC_VERSION + ' compiler'
+        env.Append(CCFLAGS = "-std=c++11 -Wno-unused-parameters ")
+    else:
+        print '> WARNING > Unknown compiler > ' + env['CC']
+        exit(0)
+
+    # Additional libraries
+    libraries = ['pthread']
+    libraries_paths = ['']
+
+elif sys.platform.startswith('win') == True:
+
+    print '> WINDOWS platform'
+    if env['CC'] == 'MVS':
+        print '> Visual Studio compiler'
+        env.Append(CCFLAGS = "-std=c++11 ")
+        env.Append(tools = "msvc")
+    elif env['CC'] == 'gcc':
+        print '> MinGW compiler'
+        env.Append(CCFLAGS = "-std=c++11 -pthread -winpthreads -Wno-unused-parameters ")
+    else:
+        print '> WARNING > Unknown compiler > ' + env['CC']
+
+    # Additional libraries
+    libraries = ['']
+    libraries_paths = ['']
+
+elif sys.platform == 'darwin':
+
+    print '> MAC OS platform'
+    if env['CC'] == 'gcc':
+        print '> Gcc compiler'
+        env.Append(CCFLAGS = "-std=c++11 -pthread -stdlib=libstdc++ ")
+    elif env['CC'] == 'clang':
+        print '> Clang compiler'
+        env.Append(CCFLAGS = "-std=c++11 -stdlib=libc++ ")
+    else:
+        print '> WARNING > Unknown compiler > ' + env['CC']
+
+    # Additional libraries
+    libraries = ['']
+    libraries_paths = ['']
+
+else:
+    print '> WARNING > Unknown operating system > ' + sys.platform
+
+
+# Source files
+###############################################################################
+
+src_framework = [env.Object("src/SerialPort.cpp"), env.Object("src/SerialPortLinux.cpp"), env.Object("src/SerialPortMacOS.cpp"), env.Object("src/SerialPortWindows.cpp"),
+                 env.Object("src/ControlTables.cpp"), env.Object("src/Utils.cpp"), env.Object("src/ControllerAPI.cpp"),env.Object("src/Servo.cpp"),
+                 env.Object("src/Dynamixel.cpp"), env.Object("src/DynamixelTools.cpp"), env.Object("src/DynamixelSimpleAPI.cpp"), env.Object("src/DynamixelController.cpp"),
+                 env.Object("src/ServoDynamixel.cpp"), env.Object("src/ServoAX.cpp"), env.Object("src/ServoEX.cpp"), env.Object("src/ServoMX.cpp"), env.Object("src/ServoXL.cpp"),
+                 env.Object("src/HerkuleX.cpp"), env.Object("src/HerkuleXTools.cpp"), env.Object("src/HerkuleXSimpleAPI.cpp"), env.Object("src/HerkuleXController.cpp"),
+                 env.Object("src/ServoHerkuleX.cpp"), env.Object("src/ServoDRS.cpp")]
+
+
+# Build examples
+###############################################################################
+
+env.Program(target = 'build/ex_basic_test', source = ["examples/ex_basic_test.cpp", src_framework])
+env.Program(target = 'build/ex_simple', source = ["examples/ex_simple.cpp"] + src_framework)
+env.Program(target = 'build/ex_simple_threaded', source = ["examples/ex_simple_threaded.cpp"] + src_framework, LIBS = libraries, LIBPATH = libraries_paths)
+env.Program(target = 'build/ex_controller', source = ["examples/ex_controller.cpp"] + src_framework, LIBS = libraries, LIBPATH = libraries_paths)
+env.Program(target = 'build/ex_sinus_control', source = ["examples/ex_sinus_control.cpp"] + src_framework, LIBS = libraries + ["opencv_core", "opencv_highgui"], LIBPATH = libraries_paths)
+env.Program(target = 'build/ex_advance_scanner', source = ["examples/ex_advance_scanner.cpp"] + src_framework, LIBS = libraries, LIBPATH = libraries_paths)

doc/doxygen.html

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+<HTML>
+<HEAD>
+<META HTTP-EQUIV="refresh" CONTENT="0;URL=html/index.html">
+</HEAD>
+</HTML>