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There are a number of other Robosapien PC control programs out there and I feel certain that even more will be available by the time this book is published. Almost all of them use the USB-UIRT for infrared transmission and are self-contained. There are some very promising projects waiting to be discovered!

$ CFLAGS="--disable-apps --disable-dependency-tracking --disable-shared \ $ --without-carbon --without-gtk --without-imageio --without-python \ $ --without-quicktime --without-swig"

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$ DEV="/Developer/Platforms/iPhoneOS.platform/Developer/" $ BIN="${DEV}usr/bin/"

Figure 11-18. The Robot Dreams: PC-Based Robosapien Control Project has one of the nicer interfaces. I haven t had the opportunity to try it: it was developed on a Japanese version of Windows XP and at this writing has some compatability issues.

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HISTORY (formatted, and without COMMENTS column values) EMPNO BEGINYEAR BEGINDATE ENDDATE DEPTNO MSAL ----- --------- ---------- ---------- ------ -----7369 2000 01-01-2000 01-02-2000 40 950 2000 01-02-2000 20 800 7499 1988 1989 1993 1995 1999 1986 1987 1989 1992 1994 1997 2000 01-06-1988 01-07-1989 01-12-1993 01-10-1995 01-11-1999 01-10-1986 01-08-1987 01-01-1989 15-12-1992 01-10-1994 01-10-1997 01-02-2000 01-07-1989 01-12-1993 01-10-1995 01-11-1999 30 30 30 30 30 20 30 30 30 20 30 30 20 20 30 1000 1300 1500 1700 1600 1000 1000 1150 1250 1250 1300 1250 900 950 1000

To keep things tidy, create directories to separate the compiled files for the device and simulator. opencvlib will hold all the files needed to use OpenCV in an Xcode project. NOTE: The next three commands depend on your version of OS X. If you re running a 64-bit OS X version such as Snow Leopard+, you ll want to use x86_64 instead of i686 for the next three.

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Figure 11-19. The Robosapien Controller magically appeared one day on the Robosapien.tk forums and was posted by Patrick Dugan for download. It also uses the USB-UIRT and works very well.

The following command will set the compiler for the i686 (Intel x86) architecture. The compiled code will be used by the simulator which runs on your Intel-based Mac.

1982 01-01-1982 01-12-1982 1982 01-12-1982 15-08-1984 1984 15-08-1984 01-01-1986

Summary

$ ../opencv-1.1.0/configure $CFLAGS --host=i686-apple-darwin9 CXXFLAGS="-arch i686"

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01-01-1986 01-07-1986 15-03-1987 01-04-1987 01-06-1989 01-07-1992 01-11-1992 01-09-1994 01-03-1995 15-10-1999

If you were running on a 64-bit operating system, the three previous commands would instead be the following:

Using a computer to take over the control of your Robosapien is in many ways the ultimate modification that you can make. Think back to 2, where we discussed BEAM robotics and the less is more concept when it comes to robotic brains. By using a PC to control Robosapien you really get the best of both worlds you maintain the simplicity inherent in the BEAM design, but by using the more advanced capabilities of your computer, you can augment the robot s abilities as you see fit.

01-07-1986 15-03-1987 01-04-1987 01-06-1989 01-07-1992 01-11-1992 01-09-1994 01-03-1995 15-10-1999

$ mkdir armv6 x86_64 opencvlib $ cd x86_64 $ ../opencv-1.1.0/configure $CFLAGS --host= x86_64-apple-darwin9 CXXFLAGS="-arch x86_64"

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Figure 12-1. Having taken iRobot s Roomba the robotic vacuum apart, Robosapien looks for interesting modification opportunities.

The configuration command for the ARM platform is a little bigger!

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$ ../opencv-1.1.0/configure $CFLAGS --host=arm-apple-darwin9 \ $ CXX="${BIN}arm-apple-darwin9-g++-4.0.1" \ $ CXXFLAGS="-arch armv6 -isysroot ${DEV}SDKs/iPhoneOS3.0.sdk" CXXCPP="${BIN}cpp"

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