LLAMA Manual Table of Contents

Preface

Getting Started

Quick Start-up Check-list

Starting G2

Starting the Robot

Radio Connection

Wire-line

Start Knowledge Base and LLAMA

Shutting down

Connecting To Ports

Establishing Radio Contact

Robot Control Through G2

Charging The Robot

What To Do When Things Go Wrong

Primitives and Macros

Instruction Set and Syntax

Command Directory

Motion Commands

Ultrasonic Commands

Bumper Commands

Speech Commands

Beacon Commands

Laser Commands

Format Commands

FORTH-Like Commands

Conditionals

System Commands

Scheduling Commands

Oddities

Variables

Constants

The LLAMA Tutorial

How LLAMA Initializes Itself

The Interactive Environment

The Stack

Variables, Constants and Conditionals

Multi-tasking Basics

Printing to the Screen

Performance Orders

Execution in Time

Execution in State

The “DEMO” Macro, A Detailed Explanation

The “SAFETY” Macro

The “SQUARE” Macro

Glossary

Appendix

Sensor and Status Data Format

Motion

Ultrasonics

Bumpers

Speech

Beacon

Laser

Time

“UNTIL” (Line-Arc) Functions

Special Functions

LLAMA Specifications

Token Interface

Limitations

Using Built-In Demo Programs

Software Installation

The LLAMA Files

Compiling LLAMA Files

Downloading LLAMA Files

Creating an Execution Disk

Other OS-9 Commands

Speech Microcontroller Data Format

Error Codes

Computer Types

System Manager Errors

Expert Driver Errors, General Interface

Expert Driver Errors, Laser Interface

System Interpreter Errors, General

System and Spawned Interpreter Errors, IO Control

System and Spawned Interpreter Errors, Sensor Receive

System and Spawned Interpreter Errors, Schedule

System and Spawned Interpreter and Obstacle Avoider Errors, Motion

System and Spawned Interpreter Errors, Parser

System and Spawned Interpreter Errors, Compiler

System Interpreter Errors, Spawner

Spawned Interpreter Errors, General

Built-in Messages

General

TAGE Controller

DEMO Macros

Obstacle Avoider

Numbers

Stack Information

Known Bugs

Operational Bugs

Logical Bugs

Macro Bugs

Warnings

The Complete Code for DEMO

References

Index