Author: Jens-Uwe Dolinsky
Email:  u.dolinsky@iname.com

This is a short manual of the robotrak interface program.
The program runs only on Win95/98 (ME not tested) and
consists of 2 files:
   
   robotrakinterface.exe
   robotak.dll

which both need to be stored in the same directory.

The program is designed to setup Robotrak by only one person.
It forces you to do the configurations in a predetermined
order: First accept the card address and the length of the
calibration bar. Then you can click on the Setup button
for the "Counts for Calibration Bar" section.
Once You have clicked on that button the program waits for you
to measure the calibration bar. So pull out the cord, put in
the calibration bar and wait for about 5 secs. When the program
detects no changes in the cord length for about 5 secs, it takes
the reading and carries on with the next drum. If you have
messed up one reading, you need to repeat the procedure for all
three drums ones some reading was provided for all drums.
When the Counts for the calibration bar are taken you can take
the Base Distances: Connect each cord to the drum according
to the boxes (1-2; 2-3; and 3-1). If all cords are connected
click on "Accept distances" and take all readings simultanously.
Finally measure the top cords and put down the lenghts in the
respective boxes and press "Accept": You can then start the
measurements.

Measurements can be taken automatically or manually. By
clicking on the start button the automatic data collection
is initiated. After confirming the filename for the data
the program waits for a about 5 seconds for the
robot to move (and the readings to change). When the robot
settles for a location, that is no change in readings, the current
readings are taken and the whole procedure is repeated. If no 
change in the reading is detected for about 100 seconds, the automatic
collection procedure terminates. Current readings (e.g. during the motion
of the manipulator) can be taken by clicking on the "Take measurement"
button.


warranty disclaimer:
The usage of the programm described above is entirely on own risk.
The author is not responsible for any damages etc



