The files in this directory contain example programs using RCI and the RCI
robot support. Some of the examples here are described in the ``RCI User's
Guide''.

angtoenc
angtoenc.c
	Generic filter program for converting robot angle values into
	encoder values.

enctoang
enctoang.c
	Generic filter program for converting robot encoder values into
	angle values.

gravity
gravity.c
gravity.h
gravity.hlp
gravityCtrl.c
	An interactive program for demonstrating gravity and friction 
	compensation. WARNING: at the time of this writing, the friction 
	parameters were specific to a PUMA 260.

msgDemo
msgDemo.c
msgDemoCtrl.c
	Demonstrates the RCI message passing mechanism.

memDemo
memDemo.c
memDemo.h
memDemoCtrl.c
	Demonstrates the RCI allocMem() mechanism.

onSigDemo
onSigDemo.c
onSigDemoCtrl.c
	Demonstrates the RCI ON_SIGNAL schedulinbg mechanism.

shmemDemo
shmemDemo.c
shmemDemo.h
shmemDemoCtrl.c
	Demonstrates the RCI shared memory mechanism.

simrobDemo
simrobDemo.c
simrobDemoCtrl.c
	Demonstrates attaching a robot simulator program to an RCI task.

zerogDemo
zerogDemo.c
zerogDemoCtrl.c
	A simple demo of gravity compensation.


