Contents

• Contents
• Getting Started
  • Getting the Code
  • Building the Code
  • Setting up your environment
  • WheelchairModule
  • The Setup file
    • Setting up servers
    • Graphic Interface
  • Start up file
  • Running the system
  • my-robot variable
  • rsync
• Wheelchair Client
  • Getting Readings
  • Odometry
  • Segments, Blobs
  • Motor Commands
  • Wheelchair Client Extensions
• Utilities
  • General utilities
    • Common lisp syntax
    • Linear Algebra
    • Statistics
    • Signal processing
    • Timers
    • PID
    • Kalman filters
    • Sockets
  • Graphic Interface
  • System Handles
    • Tracing
    • Logs
    • Display Servers
  • Trackers
• Splats
  • Splat syntax
  • Splat class
  • Stopping Controller
    • A second implementation of the controller
  • Running the stopping controller
• Examples
  • Kalman filter
    • Kalman filter class
    • Boundary following Controller
    • Kalman filter
    • Running the wall following controller
  • Display servers
• Rscheme Notes
  • Useful commands
  • Rscheme vs. Commom Lisp
  • Depend/Support facilities
  • Class System
  • Compiling to C
• Flat
  • Working with Flat
  • Running Flat
• The Wheelchair servers
• Distributed Object System
• Data visualization
  • Capturing Images
• Index