Redesign of the real time software platform for the Mechweed robot

This Degree project work describes the work and considerations done when porting the real time platform for the Mechweed robot from QNX to Windows 2000. A big part of this project is about the work and considerations needed to be thought of when programming a real time platform that should be used and maintained by scientists that are not primary programmers. Because of the old platform not being well suited for the current working scientists, this project work grew beyond a simple porting, to instead rewriting almost all of the platform. This work sets a ground for future development of the real time platform as well as enables for the possibility of making interfaces between the real time platform and for example Matlab or Labview, which both are available for the Windows 2000 operating system. These would be great features for the scientists working on this project, since they could easily, while running the robot or directly after a test run, see Matlab graphs and do calculations on the collected data. The tools that were used for porting was the support from the Windows API and a library called Universal Library. The program code was written mainly in C++ and C, using Microsoft Visual C++ 6. The porting was successful and code was cut down to less then half of the original size, and thus hopefully easier to work with.

Author: Sjogren, Thomas

Source: Lulea University of Technology

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