This directory contains the code replacing the program affectionately
known as "moper", which is loaded into the PUMA robot controller to
take the place of VAL and act as data concentrator. 

The original RCCL/RCI used the lsi11 just for data collection and
communication with the host.  The actual servo was still accomplished
(more-or-less unchanged) from the original Joint-servo cards.  The
TRIDENT board bypasses the servo cards and allows direct access to the
amplifiers, encoders, etc. Thus, for RT_LINUX/TRIDENT we must accomplish 
the Joint Level Servo ourselves.

The important files in this directory are described below.

Files related to 'moper':

moperx.c:
	This is the main control module, which sets up the task scheduling
	and initializes parameters.


pumaInterface.c
	Routines called by the joint-level servo to transact information
	with the TRC004 cand through the TRC006.  Address offsets in the 
	TRC006 are hard-coded into this file. 

pumaInterface.h
	Definitions for the actual
	joint servos. These definitions are generic to all PUMA robots. 

other files:

jls_test.c
	Test file to communicate with the kernel module moperx.o.  Opens RTFs
	and send and reads, then sends a stop message.  Good only for testing 
	that the RTLinux module is responding and running on time.

mk2_std.560.lin.c
	Linux version of the mk2_std file.  Contains P and D gain parameters
	for the servo control.  Nothing else in this file is still used.

simdevice.c
	A module similar to moperx but for simulation only.  Does no robot
	control, but operates on the same principle.  Activated at 1000Hz
	and sends message to RCI every 30 activations to drive the simulator.

dumpdata.c
	Useful data acquisition file for joint-level servo.  Dumpdata opens 
	an RTF and then waits for reading.  When JLS writes to the datadump
	fifo this program reads the data and writes it to a file.  Store the 
	data for direct load into xgraph.  Note that lines for writing data
	are commented out in moperx.c, and these need to be re-inserted for
	dumpdata function.

insrci
insrtl
inssim
rmrci
rmrtl
	Batch files for loading core Real-Time Linux modules and the custom
	modules moperx.o pumaInterface.o and simdevice.o.  These commands can 
	be executed once at boot time.  Moved to the bin directory during 
	install."ins" files install modules "rm" files remove them from kernel.

insrci.tmpl

	Templates for the script file.  This does not have the absolute path
	of RTlinux.  The absolute path is inserted during "make install" using
	the RTLinuxDir value assigned in site.conf.  Make changes by modifying
	this file, as the non-template file above is overwritten during 
	"make install" 
