Download Flat
Here is the software for the Flat simulator, the Flat display
and sample Flat controllers.
Flat is compiled for Sun and Linux machines.
Flat robot simulator
The simulator simulates robot motion and acts as a server for robot
control programs.
This script determines the machine's architecture and starts
the appropriate binary version of Flat.
Name: flat-start (You may wish to rename this to 'flat').
Flat was compiled on a Sun Sparc machine running Solaris 2.7, using GCC 2.95.2.
Binary name: flat_solaris_sparc.
Flat was compiled on a PC architecture running Debian Linux, glibc, using GCC 2.95.2.
Binary name: flat_linux_x86.
Flat Display
The display shows the robot(s) in a simulated world, and
shows simulated sensor output. The user can also write to
the sensor output windows, for example to overlay the sensor
output with their own output.
Flat Display
Flat Clients
These are useful for writing robot controllers in Flat.
Flat Client (LISP)
- download flat-client.tgz (278K)
Note: this is not ready for download yet.
This is a complete library of interface functions to Flat and the Flat Display.
You connect to Flat using the (flat-client ...) and then control
the robot using interface functions such as (flat-speed ...),
(flat-turn-left) and (flat-stop). It contains binaries
for several different architectures. Note: It requires Allegro Common LISP v5.0.1.
Flat Client (Java)
This is a simple Flat controller written in Java. It connects to Flat and starts the robot moving.
The Java version is very simple and doesn't do much more than contact Flat. The
above LISP version is much more complete.
Note: the name of the class is flat.controller.FlatClient.
Usage: java flat.controller.FlatClient -port 1095
[Flat Home]
[Robotics Home]
Author: Micheal
S. Hewett
Email: hewett@cs.utexas.edu
Last Updated: Sunday, October 8, 2000