Robot Project Notes

How to Launch Kuper RTMC

0. (opt) Turn on driver pack power
1. Turn on laptop power
2. Wait for laptop to boot into Windows 95
3. Select “Shut down Windows 95”
4. CRUCIAL -> When prompted, select “Restart in MS-DOS mode”
5. Change directory to cd C:\KUPER48
6. Launch RTMC130
7. To quit, select QUIT from RTMC
8. Power off laptop
9. (opt) Turn off driver pack power

Control Stack

The control stack consists of multiple software paths and interfaces depending on the required motion control (MoCo) or stop-motion (Stopmo) capabilities.

graph TD
    subgraph Software
        RTMC[RTMC]
        DF[Dragonframe]
        UE[Unreal Engine]
    end

    subgraph PCs
        OldPC[DOS Laptop]
        ModernPC[Modern PC]
    end

    subgraph "Interfaces"
        Kuper[Kuper]
        subgraph "Arduino"
            DMCLite[DMCLite]
            DMC[dmc]
        end


    end

    subgraph "Motor Controllers"
        Coppola[Coppola]
    end

    subgraph Robots
        Big[Big Robot]
        Little[Little Robot]
    end

    RTMC --> OldPC
    OldPC --- Kuper

    DF --> ModernPC
    UE --> ModernPC

    ModernPC -- USB --- DMCLite
    ModernPC -- USB --- DMC

    Kuper --> Coppola
    Coppola --> Big
    Coppola --> Little

    DMCLite --> Coppola
    DMC --> Coppola

Figure 1: Robot Control Hardware and Software Stack