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make-robot [spec-list]

This relatively low-level (i.e. you don’t need to use it) routine creates a brand-new robot object for representing a physical device whose motors are connected to the given ports on the control board, that board being accessed through the given port device.

In practice, you should set up a robot descriptor such as the example at the top of the level-2.scm file with all this information in it, and then call make-default-robot

[We need to fix this up so that the one procedure does all the work we can ask it to do.]


(define robot (make-robot))

This will make the symbol robot refer to an object which describes the default robot, the one defined in the code itself which you should edit for convenience.

(make-robot ’("devttyUSB0" 0 1 3 2 5 4))

This will return a robot object which is communicated with via the USB-0 port, and whose base, shoulder, elbow, etc motors are connected to the 0, 1, 3, etc ports on the control board.

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