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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.

Build Status

Index

Japanese version is here.

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

$ 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