A Dimarts 20 Març 2007 18:38, Jan Kiszka va escriure: [....] > > "Access to nondeterministic media is managed by the pluggable RTmac > layer and the actual control discipline." > > > ... > > and I don't know what is a TDMA > > Ok, that's improvable.
ok, I'm sorry. I answer myself with a big RTFM!!!!!! Really I have done stupid questions. :-( I'm ashaimed ... > > > > maybe an example of configuration (or I didn't found it) with two boxes > > with cross cable, tree boxes an a hub, n-boxes and a hup... > > That's intended to be derived from the additional in-place comments in > rtnet.conf. Ok, I will read it more carefully ... > > > Special notes > > 3. Configure real-time NICs: rtifconfig rtethX up <IP>, > > rtifconfig rtlo up 127.0.0.1 > > 4. Add host routes to target nodes, either explicitly: > > rtroute add <target IP> <target hw-address> dev <local NIC> > > Or trigger an ARP handshake: > > rtroute solicit <target IP> dev <local NIC> > > > > in a normal net I don't need to add a node if it has a local address, > > maybe a point that it's necessary in the rtmodule (or I have understand > > it) > > RTnet implements "static ARP", which means that ARP requests need to be > triggered manually and that ARP table entries do not automatically expire. never? if I do a rtnet stop, the ARP entries will expire, no? [....] > > Through rtnet.conf away as well, switch to "Starting the RTnet core > manually (without RTmac)" from the README. Ok. [......] > > Well, I have a rtai box with orocos [1]. The idea is that here we will > > implement a software controller of a robot. In the other part (the > > vxworks) we have the controller of the robot. However we have a library > > that let us send the torque to each joint and read the position of the > > jooint. The controller says that has a close loop of 4 ms. So the idea is > > that in this time, we could read the positions of the robot, send then to > > the rtai-controller and read the torques to apply to the robot. All of > > this is thinking that we can do the control in one milisecon in the > > rtai-controller. > > So you need RTnet to talk to the VxWorks box on the robot or/and to > build a distributed robot controller over multiple RTnet nodes? > Only need the rtnet to talk with the VxWorks box on the robot, not to build a distributed controller over multiple RTnet nodes. At least by now, in the future .... Thanks a lot for your patience .... Best regards, Leo -- -- Linux User 152692 PGP: 0xF944807E Catalonia
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