YP-Spur is a mobile robot motion control software with coordinate frame based commands. See Control Architecture to learn the detail of the control system.
- Install gcc, C standard libraries and cmake
- Build and install YP-Spur
$ git clone https://github.com/openspur/yp-spur
$ cd yp-spur
$ mkdir build
$ cd build
$ cmake ..
$ make
$ sudo make install
$ sudo ldconfig
- First of all, learn Git!
- Find a branch or tag name at https://github.com/openspur/yp-spur/branches or https://github.com/openspur/yp-spur/releases.
- Go to yp-spur directory where you have cloned.
- Checkout the desired version.
$ git fetch origin
$ git checkout -b [branch name] origin/[branch name]
- Then, make and make install in the build directory.
- Open two terminals
- Run ypspur-coordinator in terminal 1 and keep it running
$ ypspur-coordinator -p PARAMETER_FILE.param -d /path/to/device
- Run user program in terminal 2