#contents

TkMotorPosComp

This sample is included with the Python edition of OpenRTM-aist.

Please note that it is not included with the C++ or Java editions.

Overview

This is a sample RT Component with a GUI interface. The sample component can be started by running:

TkMotorPosComp.bat

Unlike TkMotorComp, which controls rotational speed through InPort input values, this component controls the rotational angle through InPort input values.

Startup Screen

TkMotorPosComp Execution Example

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SliderComp

This sample is included with the Python edition of OpenRTM-aist.

Please note that it is not included with the C++ or Java editions.

Overview

This is a sample RT Component with a GUI interface. The sample component can be started by running:

SliderComp.bat

(The screen shown below is from a Windows environment.)

Startup Screen

SliderComp Execution Example

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System Configuration

SliderComp and TkMotorPosComp in RTSystemEditor

Usage

SliderComp and TkMotorPosComp provide a GUI-based simulation environment for controlling motor rotation angles using slider controls.

• Procedure

  • Start RTSystemEditor and open a new SystemEditor.

    For details on using RTSystemEditor, refer to:

    RTSystemEditor

  • Start both components:

    SliderComp.bat
    TkMotorPosComp.bat
    

  • Both components will appear in the Name Service View of RTSystemEditor. Drag them onto the SystemEditor.

  • Connect the corresponding ports of the two components. (Refer to the RTSystemEditor example shown above.)

  • Right-click either component and select:

    [Activate Systems]
    

  • In the TkMotorPosComp GUI, disks representing motor-driven actuators will be displayed.

  • Verify that the rotational angle of each disk can be controlled using the vertical slider knobs in the SliderComp GUI.

  • The six slider knobs correspond to six simulated motors, each controlling the rotational angle of its corresponding disk.