gRAPI: An Indoor Four-Wheeled Robot API for A Gumstix Connex

Abstract

ABSTRACT gRAPI: AN INDOOR FOUR-WHEELED ROBOT API FOR A GUMSTIX CONNEX by Michael Graham Simmons Master of Science in Computer Science California State University, Chico Spring 2009 The goal of this project was to develop gRAPI, an application programming interface (API) for a gumstix connexTM motherboard in order to control an indoor four-wheeled robot. The robot platform used was the TraxxasTM E-Maxx RC electric mon-ster truck. gRAPI was developed to control four main components: servo, motor, range sensor, and compass sensor. gRAPI was subjected to a two-phase testing process to ver-ify its correctness and functionality. The first phase tests each component with its corre-sponding code. The second phase tests multiple components together to ensure proper functionality of each component within a single program. gRAPI successfully passed all tests for both phases of testing. With the development of gRAPI for a gumstix connexTM motherboard, more advanced robotics software for mapping and localization, vision, and other algorithms can be implemented.