This directory contains test utilities for the Puma interface via TRC004/006.
These files assume RTLinux has been installed and checked for basic real-time
functionality.  Short of running the complex RWRCCL/RTLRCI, these small files
will allow direct access to the TRC004 via register read and writes.

control_app and control_module based on the example "frank" included in 
RTLinux  Modified by MS.

Imakefile	Simple Imakefile included only for consistency with remainder
		of RWRCCL.  Makefile lines are transcribed into Makefile.
Makefile        Generated by rmkmf from Imakefile.  Do not edit, changes will
		be overwritten on the next "Make World"


calib.c		Unused in RWU implementation, but retained as potentially 
		useful example of how to calibrate PUMA

cfig.c		Trivial little program to read the configuration file
cfig.h

control.h	Includes the base address and the shared memory structure

control_app.c
control_module.c
		For RT-Linux programs are in two parts, a real-time part that
		is loaded into the kernel with insmod, and a regular application
		program invoked at the command prompt that communicated with 
		the real-time module.  Use these bu inserting control_module.o
		into the kernel and then running control_app.

insrtl		Small shell script to insert the base RTLinux modules into the 
		kernel. These are needed by any real-time module you wish to 
		load.

mbuff.h		Needed for sharing memory between real-time and regular processes

	

pumaInterface.c Regular application that reads and writes to the IO Port registers of
pumaInttest.c	the TRC004.  Has a trivial menu of commands, the most useful for me
		is "p" and "Z" which shows the raw encoder counts and resets these to
		zero.  I use this after manual calibration to zero the encoders.

rmrtl		Shell script performing the opposite function as insrtl

	
robmain.c	Included for reference.  These are files included with the TRC004
robot.c		providing limited menu and low level read/write operations.
robot.h		pumaInttest is based on these files and replaces their function.
robotusr.c
rt_control.c
rtcontrol.h
sched.c		
sched.h
trident.cfg
vtypes.h


rtl.mk		Makefile addition included with RTLinux.  This defines various paths and
		compile flags necessary to compile any program for RTLinux.  When 
		installing RTLinux, this file is automatically generated.  Just copied
		into this directory.




Automatically remade as part of "make World"
