Instructions to install and execute this code is located after the below copyright notice. Please read this carefully.

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COPYRIGHT  � 2013
THE REGENTS OF THE UNIVERSITY OF MICHIGAN
ALL RIGHTS RESERVED

PERMISSION IS GRANTED TO USE, COPY AND REDISTRIBUTE THIS SOFTWARE FOR NONCOMMERCIAL EDUCATION AND RESEARCH PURPOSES, SO LONG AS NO FEE IS CHARGED, AND SO LONG AS THE COPYRIGHT NOTICE ABOVE, THIS GRANT OF PERMISSION, AND THE DISCLAIMER BELOW APPEAR IN ALL COPIES MADE; AND SO LONG AS THE NAME OF THE UNIVERSITY OF MICHIGAN IS NOT USED IN ANY ADVERTISING OR PUBLICITY PERTAINING TO THE USE OR DISTRIBUTION OF THIS SOFTWARE WITHOUT SPECIFIC, WRITTEN PRIOR AUTHORIZATION.  PERMISSION TO MODIFY OR OTHERWISE CREATE DERIVATIVE WORKS OF THIS SOFTWARE IS NOT GRANTED.

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** The model is created by
Steve Vozar
Department of Mechanical Engineering
University of Michigan

with technical and financial support of the Automotive Research Center (ARC) in accordance with Cooperative Agreement W56HZV-04-2-0001 U.S. Army Tank Automotive Research, Development and Engineering Center (TARDEC) Warren, MI.

**

Java and C++ Code for SuperDroid Robot Chassis and Arm with Dynamixel Servos
Steve Vozar

DEPENDENCIES:
LCM and April (see http://april.eecs.umich.edu/wiki/index.php/Download_and_Installation for instructions for both).
arlstaff.jar placed in the same folder

SpaceNav (http://spacenav.sourceforge.net/) for 3D mouse control only.


INSTALLATION:
from the root (robot) directory, type 'ant' at the command prompt.
add the path of the arlstaff.jar library to your classpath (do this in ~/.bashrc)

the mixed C++ and Java creates some problems, so we need to manually override some things to get the chassis commands working.



cd bin/robot/chassis/
rm -rf ChassisDriver/ ThreeDeeMouse2ChassisDrive/
cd ../../../src/robot/chassis/ChassisDriver/
make

cd ../ThreeDeeMouse2ChassisDrive/
make


