This directory contains the source for a set of basic robot control utility
programs. Mots of these programs are implemented using the simple
joint-level trajectory generator CHASE, the source code for which lives
in ../chase.

free.c
	Program to free up, or "limp", the individual joints of the robot.

macros.h
	Some macros used to interface with the CHASE trajectory generator.

move.c
	Program to do simple robot motions in joint coordinates.

potcal.c
potcal.h
potcalCtrl.c
	Program to calibrate the potentiometers for a PUMA robot.

power.c
	Program to turn the robot power on or off.

primecal.c
	Program for doing the initial calibration of a PUMA robot, in
	which we determine the calibration vector.

pumacal.c
	The basic program for calibrating PUMA robots.

support.c
	A few support routines, used by most of the programs in this
	directory, which take care of the ``boiler plate'' things related to
	setting up a robot control task.

teachdemo.c
	A simply program which just calls the RCCL "teach" routine in a
	loop.

zerograv.c
zerogravCtrl.c
	Program to put the robot into "limp" mode, where current to the
	joints is set to 0, except for just enough to balance the load due to
	gravity.
