Contents

Overview

The Acroname aGP tool is an application for interfacing with BrainStem GP modules.  Use the aGP to manipulate digital inputs/outputs, view analog inputs, display a GP2D02 ranger, send and receive IR data and control servo motors.  The aGP identifies which BrainStem GP module it is talking to and adjusts the controls to fit the appropriate module. 

aGP running on Windows XP

Related Devices

The aGP application is designed to be interfaced with a BrainStem GP module.  BrainStem GP modules are used stand-alone, inside Garcia mobile robots and in simulations. 

Products that interface with the aGP application

Software Details

The aGP has divided the functionality of the servo control, analog inputs and digital IO and other controls into separate panes.  Depending on what module type, different functionality will be present. 

Analog window pane running on Mac OS X.

The analog pane provides feedback for analog input measurements.  Each channel shows the current raw value reading with a visual indicator that changes relative to the measured reading. 

Digital pane running on Mac OS X.

The digital control pane provides access to all the digital pins available on the GP module.  Depending on what module type you have, controls may not be manipulatable. 

The digital mode drop down menu changes the digital pin operational mode.  Detailed information can be found in the BrainStem Reference manual under the cmdDIG_CFG . 

Digital state control changes the level on the digital pin.  When the configuration mode is set to an input, this value will be grayed out, but high and low levels will be shown.  Detailed information can be found in the BrainStem Reference manual under the cmdDIG_CFG . 

Servo pane running on Windows XP

Servo pane allow adjustment and control of each servo motor channel.  Each channel has a slider that adjusts the absolute position value for the servo motor.  The raw absolute position value is shown above the slider.  A separate configuration menu that adjusts servo control settings can be opened by clicking on the configuration settings button. 

GP2D02 visualization pane for GP 1.0 modules.

BrainStem GP 1.0 modules have a built in support for a Sharp GP2D02 ranger.  The raw value reading, a reading converted to inches and visual drawing show the show the result from the sensor. 

BrainStem GP 2.0 IR pane running on Mac OS X.

BrainStem GP 2.0 modules have IR send and receive capabilities.  The IR pane provides an interface to both send and receive data.  An informational log shows actions such as when data is sent, received or queued.  Values can be added to a growing queue by entering in a value into the Transmit input value field.  Once a value is entered, it will get added to the queue by pressing the Queue Data button.  Init Test button adds a pattern of values to the queue.  Data is sent by pressing the Send Data button. 

Additional Information

The aGP application is designed as a stripped down and interactive interface to the BrainStem GP modules.  Supplemental information about working with the aMoto application can be found in the following resources:

• BrainStem Reference Manual - detailed information useful for working with the BrainStem modules. 
• Getting Started Guide - A step-by-step walkthrough intended to guide one through using the aGP application. 

Revision History:

• 2009-11-19: Included information and images for IR and GP2D02 panes.
• 2009-11-18: Added details about the analog, servo and digital panes.
• 2009-11-13: Added related devices.
• 2009-11-12: Initial post.