ActivMedia Robotics Interface for Application (ARIA)
Amtec PowerCube Plugin
Version 2.0.x
Copyright 2003, ActivMedia Robotics, LLC. All rights reserved.


This plugin is used for the Amtec PowerCube 6-DOF arm, available on the
Powerbot.  The software is a wrapper for the libraries provided by Amtec.  The
wrapper provides a simpler, easier interface for the arm.  More advanced users
may find that the original Amtec libraries more suit their needs.

To install in Linux:

	cd /usr/local/Aria/
	tar -zxvf /path/to/ARIA-ArPowerCube.tgz
	cd ArPowerCube
	make

Make links for the appropriate kernel (2.4.22 in this case):

	cd ArPowerCube/internalLibraries/m5dll_distribution
	ln -s c331-2.4.22 c331
	ln -s libLinux lib
	cd include
	ln -s ../c331-2.4.22/ntcan.h ntcan_linux.h

To install in Windows:

Unzip the packages into the directory where Aria is installed - C:\Program
Files\ActivMedia Robotics\Aria by default.  This will create an ArPowerCube
directory.

Examples:

PBArmPark - this parks the arm in the designated parked position.  This
position is curled up and laying down on the back of the PowerBot.  This is
useful for putting the arm away when done using it.

PBArmPosition - this example will allow you to manually move the arm into a
position, then retrieve the coordinates of the joints.  This is useful for
programming wrote movements.  When you first start the program it will
position the arm with the end-effector just above the ground.  Pressing the
space-bar toggles the brakes.  Be careful to support the arm before releasing the brakes.

PBArmDemo - this example will attempt to pick up an object off of the floor from in front of the PowerBot.  If it finds one it will place it on the back right-side of the robot's top plate, then park.  If it doesn't find an object it will just park itself.

The ARIA Package
================
Aria/
  bin       Win32 binaries and dlls; Linux binaries in source
  lib       Win32 .lib files and Linux .so files
  ArPowerCube/
	examples	ArPowerCube examples
	include		ArPowerCube include files, of course
	lib		ArPowerCube library
	src		ArPowerCube module source (*.cpp) files
	docs		ArPowerCube documentation
	internalLibraries	Original libraries as supplied by Amtec


======================================

ActivMedia Robotics, LLC
support@activmedia.com
http://www.activrobots.com
19 Columbia Drive
Amherst, NH 03031