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I've inherited a Windows 2003 server acting as a PDC and file server. It has a 410GB RAID5 array partitioned into chunks of 170GB (system, 58% full) and 240GB (92% full) with no logical division. There are numerous network shares on both partitions.
I've been tasked with consolidating data from several shares across both partitions into a single share on the 240GB drive, which is almost full. Not gonna happen.
So I want to merge the partitions. Just back up the big one, wipe it out, expand the little one, then restore the data. Is it possible to do that without destroying the server in the process? What is the best tool for the job?
Oct 1, 2008 at 4:35 UTC
Yeah admittedly I was going to mention using partition utils at first, but I never like messing around with production systems' boot partition. Otherwise, there is a really helpful thread out in experts-excange too....
12 Replies
Oct 1, 2008 at 4:23 UTC
Yeah that blows. Before you do anything make sure you have a good backup (had to state it even though you knew that). Sata drives and usb enclosures are cheap now. If it were me, I wouldn't make a big to do about it. Maybe just leave the system partition alone and add a 320GB-500GB sata external drive and copy the data to it. This way you're transferring at a faster speed than copying over the network. Then blow up the old partitions, recreate, and copy back down. Just a simple answer from a simple man.
Oct 1, 2008 at 4:30 UTC
Here you go, this is what you want i think.
Oct 1, 2008 at 4:35 UTC
Yeah admittedly I was going to mention using partition utils at first, but I never like messing around with production systems' boot partition. Otherwise, there is a really helpful thread out in experts-excange too....
Oct 1, 2008 at 4:49 UTC
Yea, personally I would probably just backup all the data then blow up the parts and make one large partition. But I have used gparted before at home with no problems.
Those guys at EE know everything.
Oct 1, 2008 at 5:23 UTC
That EE thread led me to a wealth of information. Windows 2003 has DISKPART which can expand partitions, except the boot/system partition. Boo!
It looks like I'll have to go with the full re-install. 400GB? there goes my weekend. Ah well, now is a good time to get our disaster recovery plan in place! :-D
Oct 1, 2008 at 10:29 UTC
Glad you guys had access to EE ... I have mixed emotions about their 'protected' content. But I had a totally free membership after just answering maybe 10 questions. But even if you have to pay for it to get literally experts buzzing all over your question "competing" for points it's worth it.
Nic, I changed at least my post title to 'pergatory' b/c you will get out of this. Also this should be scriptable and could run overnight. Otherwise even if you have to 'be there' if you script it - even if by batch file, that should take a lot of the sting out.
Wuddup mo, btw! I always think of bone when I read your name...
Oct 2, 2008 at 3:18 UTC
EE is not that protected, just scroll to the bottom of the page..!
Oct 2, 2008 at 8:31 UTC
Not to mention google cache and all sorts of other tricks. But in general - they make attempts to protect it.
Oct 3, 2008 at 7:03 UTC
1st Post
few weeks ago, i´ve had same problem. Had to increase system volume. For not disturbing production, i tried several ways on several weekends (some gigs to backup and restoring them after failing). Most of the tools had problems with the raid-controller. Some of them begin to operate and after hours left just an error message.
At least i´ve had only gparted to try - it takes the job in five minutes, without any error bevor, between or after. Great Tool.
cu, frank
Oct 3, 2008 at 11:59 UTC
I have been in your situation before and I used the software below to resize the system partition and it worked perfectly without losing any data.
I have used it on 3 different servers (Windows 2003 Std SP2) all running RAID 1-5. One of the servers even had MS SQL 2005 running.
Please backup the server properly and make sure that you CAN restore from this backup before using this tool.
Good Luck.
Oct 3, 2008 at 12:04 UTC
Acronis makes great software. I just wish everything was free like spiceworks.
Nov 7, 2009 at 1:51 UTC
Well a couple days ago I found myself in the exact same dilemma. My spiceworks and wsus server of all things (a PIII lol). Gparted. It works. So if you can transfer BA to Frank125, feel free. Just make sure you have a good backup of everything.
This discussion has been inactive for over a year.
You may get a better answer to your question by starting a new discussion.


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- 2.
Open the Banggood app and find the product(s) in the Cart or Wishlist.
- 3.
Pay for your order and get your discount !
|Qty (unit)
|Price US$
Easy to apply on natural or artificial nails.
You can also use them to decorate home or made cards.
Clean the surface of your nails, brush the base polish.
Place it onto nails Seal with a clear top coat.
Color: Silver
Shape: Round flat
Rhinestones Diameter: app 1.5mm
Weight: about 19g( Include the wheel )
Package included:
1x wheel nail art Rhinestones ( app 2400pcs )
When you order from Banggood.com, you will receive a confirmation email. Once your order is shipped, you will be emailed the tracking information for your order's shipment. You can choose your preferred shipping method on the Order Information page during the checkout process. Banggood.com offers four different international shipping methods:
|Shipping from Chinese Warehouse
|Airmail and register airmail
|United States, Canada, Netherlands, Spain, Germany, France, Japan, Republic of Korea, United Kingdom
|7-20 business days
|Australia,New Zealand,Singapore
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|10-15 business days
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|United Arab Emirates, India, Bahrain, Cyprus, Egypt, Israel, Jordan, Kuwait, Lebanon, Oman, Qatar, Saudi Arabia, Turkey
|5-10 business days
|7-15 business days to worldwide
|Expedited Shipping
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NOTE: Netherlands Direct Mail has been combined into the Priority Direct Mail. If you are in a European country; simply choose Priority Direct Mail and it will be shipped via Netherlands Direct Mail.
*Expedited shipping can not be used for PO Box addresses
|Shipping From Local Warehouses
|EU Warehouses
|UK: usually 3-6 business days
Other EU countries: usually 7-10 business days
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|USA: usually 3-6 business days
Other American countries: usually 7-10 business days
Shipping from your local warehouse is significantly faster. Some charges may apply.
In addition, the transit time depends on where you're located and where your package comes from. If you want to know more information, please contact the customer service. We will settle your problem as soon as possible. Enjoy shopping!

subset: commoncrawl


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Dropbox Integration: Sorting submissions folderAsked by mintdentistry on April 10, 2015 at 06:06 PM
I noticed that several submissions are not appearing in the folders integrated with Dropbox? I have them going into each Folder by Location but it's not adding them after the first one.
For example I have 3 already submitted for cedar hill but only one shows up. Heres the form.
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Cristiano Ronaldo Driving His New Supercar – Lamborghini Aventador
♦ You May Also Like ⇒ Cristiano Ronaldo Net Worth 2015
Cristiano Ronaldo Driving His New Supercar – Lamborghini Aventador
Cristiano Ronaldo is not just a football superstar but also one of the richest athletes in the planet. He moved from Manchester United to Real Madrid for a transfer cost of £80 million ($132 million) in 2009, hence becoming the world's most expensive player in football. CR7's current buyout clause is valued at €1 billion. He is not just having a great bank balance but also has a great portfolio of his properties and cars. In this video we captured him driving his all-new 6.5 L L539 V12 Lamborghini Aventador on his way back from Real's training ground. Watch and Enjoy, and don't forget to leave your comments in the discussion box below.
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makeup by alecia Makeup Artist
Design_Is_GraphicRetoucher Male Salinas, California, US
My Website: Design Is GraphicMy MM URL: http://www.modelmayhem.com/designisgraphic
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Just got an R0 and said "Server error" or something. Tried to get back on but keep getting the same error, was curious if anyone else is getting this?
I mean there is a chance that i still have internet, being im posting this right now, so now sure why i cant get on.


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Best Of :: Music & Nightlife
Maybe you've got a few mint Six Finger Satellite 7-inches or some tight psych-folk platters, and only your cat gets to hear them night after night. Well, Mr. Snookums has probably heard them enough. Which is why, every Tuesday starting at 9:15 p.m., Echo Park's finest first-date spot and chillest bar hosts neighbor Origami Vinyl's Record Club. In the back of the tastefully wood-trimmed watering hole, Origami's sure-handed music experts will spin the pride of your collection as you enjoy El Prado's great beer and wine selection. You'll maybe even have a snack or two and start to get friendly with your fellow wax fanatics. And the first 10 people to show up with a record get a free drink. Even more reason to actually get away from Mr. Snookums occasionally.
Built in 1926 and taken over by Goldenvoice in 2012, this Hollywood classic is the perfect setting for both rising artists and stalwarts holding communion with their most loyal fans. Restored in 2002 to its Roaring Twenties elegance, it packs in a respectable 1,200 with moody lighting, a big dance floor, balcony seats and a rooftop bar. The sound is top-notch from anywhere in the room and it's easier than at most places to get close to the stage here. The Fonda is a favorite venue with big names looking for an underplay; in recent years, everyone from The Rolling Stones to Jack White to Radiohead has passed through. But it's the acts on the verge of superstardom that make the place special. Kids moshed to Justice playing "We Are Your Friends" here in 2007, and Lorde played just two weeks before "Royals" hit No. 1.
When the New York–based promoters behind the Bowery Ballroom announced they were expanding their empire to include a L.A.-based venue in Westlake, between downtown and MacArthur Park, many looked upon the plan with skepticism. But a few months into its time on Seventh Street near the 110 freeway, the Teragram has already established itself as one of the prime venues in the city. Located in a building that started life as the Playhouse Theater, the Teragram's sightlines are near-perfect, and the slight arches in the ceiling create pristine sound that pleases audiophiles. The room is cozy yet has enough space for people to comfortably move around, and drinks are reasonably priced. When you combine all these elements, it's easy to see why the Teragram is quickly becoming the next great place to see a show in Los Angeles.
The pungent odor wafting through the Smell's brick-walled interior is special. It's not just a smell; it's the grimy remnants of 170 shows booked every year by and for teenagers who come to the Smell for their own oasis amidst the junkies, drunks and cops of DTLA. For 17 years, Jim Smith's hideaway has been a de facto open-mic for diverse acts ranging from experimental noise bands to punk heroes like No Age. Once known as "the house that No Age built," the Smell is the DIY hub where everyone from Haim to Health cut their teeth, where Girlpool first met, and where labels such as Burger and Danger Collective created a cultlike following. At the Smell, "all-ages" is a philosophy as much as it is a door policy. The cooperative space offers a place for kids to choose their own family and find their own tribe.
After years of frustration at how most clubs in Los Angeles viewed jazz and treated musicians, Korean-born vocalist Joon Lee decided to open his own, vowing to run it from an artist's perspective. Lee's commitment to the quality of the music above all else (framed in a elegant, modern space) has granted Bluewhale, in its sixth year of existence, most-favored status among jazz musicians and patrons alike. There is now an endless stream of jazz A-listers from New York and beyond parading through the club's custom-glass entrance, yet Bluewhale remains the most affordable option to see the very best jazz has to offer, with low ticket prices and no food or drink minimums, making the music accessible to a younger, hipper crowd. It's too bad the club is tucked away in a nondescript Little Tokyo shopping mall; here's hoping they can move to a new site sooner than later.
Sam Nazarian's SBE club empire has produced a worthy super-club with Create, and Sound Nightclub, with a Pioneer sound system that pounds, is the small-venue champ. But the new boss in town remains the old boss: Avalon Hollywood, L.A.'s first and still best purpose-designed venue for EDM clubbing. The room, which started its life as a live theater, still emits cavernous magic. Even as DJ bookings have grown impossibly competitive, Dave Dean and the club's other promoters maintain dignity and gravitas by putting the likes of Erick Morillo and James Zabiela onstage. Owner John Lyons' custom sound system is the best in town, period. Get close enough and the world's largest subwoofers (40 inches) will punch you in the chest. And if bottle service is ruining L.A. nightlife, Avalon offers an antidote. Sure, you can still sit ringside and douche it hard-core with your fake friends, but the action here is on the floor, where fans still actually get up on their feet and dance.


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Thank you to everyone who attended MHC's first Long Night Against Procrastination! The event was a huge success and we hope that all students found the supports and services they needed to get a head start on end-of-semester projects and exam prep.
Help is always here when you need it. Visit the links at the left for more information about academic support, health and wellness, technology services, and more.
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Skip navigation.
May 10, 2017 – Northwestern Oklahoma State University's Division of Business recently welcomed 14 undergraduate students and two faculty to its honors society, Delta Mu Delta.
July 13, 2016 – A familiar face has been appointed chair of Northwestern Oklahoma State University's Division of Business. Dr. David Hawkins, assistant professor of business, has been teaching at Northwestern since 2013 and began his new position as division chair in early July.
April 29, 2016 – Two seniors from Northwestern Oklahoma State University made it to the finals during the 2016 Donald W. Reynolds Governor's Cup competition, a statewide collegiate business plan competition that simulates the real world process of researching a market, writing a business plan and making a presentation to potential investors.
July 7, 2015--Not only was Northwestern ranked in the top "100 Most Affordable Selective Small Colleges for Accounting 2015," it was ranked within the top 10 in the nation.
April 2, 2015--Eight Northwestern Oklahoma State University Division of Business faculty members attended the MBAA International Conference in Chicago from March 25-27. The annual conference draws 700-800 business faculty members from across the United States and abroad.
March 12, 2015--Northwestern Oklahoma State University's Division of Business invited 22 students to join its honors sorority, Delta Mu Delta. The students have all completed more than 60 credit hours and maintained a grade point average of 3.5 or higher.
June 19, 2012 -- The Accreditation Council for Business Schools and Programs (ACBSP) has granted initial accreditation to the Division of Business at Northwestern Oklahoma State University for four of its bachelor's degree programs. Northwestern was one of 18 colleges and universities from around the world to earn initial accreditation from the group.
April 10, 2012 -- Six Northwestern Oklahoma State University professors and five students participated in this year's MBAA International Conference held at the end of March in Chicago.
Besides announcing student scholarships, honors and recognition, 23 members recently were initiated into Northwestern Oklahoma State University's business honor society Sigma Beta Delta, during the annual Division of Business awards ceremony. Two faculty members, Dr. Janet Cunningham, university president; and Dr. Jerry Gustafson, professor of business, along with 21 students were inducted at a recent ceremony.
MISSION STATEMENT: Northwestern Oklahoma State University provides quality educational and cultural opportunities to learners with diverse needs by cultivating ethical leadership and service, critical thinking and fiscal responsibility.


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5A Fiesta Region Preview
Absolute brutal region that borders on unfair. Every week these teams are playing in playoff-like games in what is likely the toughest region in the state once again. Hamilton seeks paydirt once again, but it's path will be quite a bit rockier with a very talented Chandler squad waiting to dethrone the defending 5A1 state champs. Brophy will be very young, but very talented. Another run to the state title game by Mesa this year would be even more shocking as they have suffered key losses. Desert Vista and Red Mountain are never programs to look past or you could tagged with a loss. All six of these teams could make the playoffs
1. Hamilton
2. Chandler
3. Brophy
4. Red Mountain
5. Mesa
6. Desert Vista
Brophy- A combination of graduation, and smaller than usual numbers among the senior and junior classes, has opened up the door for a host of sophomores to compete for varsity jobs for the 2010 edition of Brophy.
And they aren't just any sophomores.
The group, headlined by quarterback Tyler Bruggman and standout receiver Devon Allen, are coming off a 10-0 freshman campaign that ended with several being elevated to varsity for the final contest and the playoffs.
Competition between Bruggman and junior incumbent QB Chase Knox was been neck and neck but Know decided to transfer after Burggman was named the starter.
Opposite Allen will be Josh Dennard. The duo will form what could end up being one of the best WR tandems in the state when all is said and done. Both Kevin Malloy and sophomore Marche Dennard will try to fill the shoes of the departed Princeton bound Max Leonesio.
Defensively, linebacker Ethan Cooper will anchor a defense that was hit hard by graduation but will still have plenty of athleticism. Dennard and Joe Maggi will lead the secondary while sophomore Robert Relf brings huge intensity to the linebacker corps.
Key Losses: RB Max Leonesio, LB Tom Woodward, DB/K Alex Garoutte, OL Hank Jenkins, TE A.J. Steimel, RB Peter Kelly, DL Brok Kloeber
Key Returners: WR/DB Josh Dennard, QB/WR Chase Knox, WR Devon Allen, OL Kevin Harris, LB Ethan Cooper, RB Kevin Malloy
Chandler- While quarterback Brett Hundley is the definite key to the Wolves' chances of finally leapfrogging their pesky neighbor Hamilton; he won't be a lone wolf this year.
Hundley's legs and arm figure to attract most of the attention from Chandler's opponents, but if they sleep on his teammates, there will be a price to pay.
One of those big checks that could get cashed regularly will be by the speedy Oshae Hatcher. After an injury early in his junior year limited him to very few reps, the senior is ready to take a huge load off of Hundley and stress all future defenses the Wolves' will face (written prior to this week's season ending injury). Michael Okonkwo figures to be one of Hundley's favorite receiving targets after an above average junior season.
Hundley, whose national reputation skyrocketed after a very productive junior year, appears to have narrowed his college choices down to Washington and UCLA. He will announce his decision on Sept. 6th.
Hundley's sense of urgency to win the big one this year is much the same as head coach Jim Ewan's goal. The longtime coach is retiring after the season, so this will be the last shot at knocking off Hamilton and hopefully winning that elusive state title in the process.
As dangerous as the Wolves' will be offensively, their defense will be vastly improved from a year ago. Defensive end bookends Terrell Patton and new transfer Kisima Jagne (from Ceasar Chavez) are set to wreak havoc in the opposition's backfield, while Jamal Vargas returns from a productive junior year to patrol the secondary.
Key Losses: OL William Poehls, OL C.J. Dickerson, OL Dallas Lopez, DL Ammon Samia, LB Declan Wall, DB Jeremy Morris, LB Andrew Muscara, RB Taylor Walstad
Key Returners: QB Brett Hundley, RB Oshae Hatcher, DL Terrell Patton, DL Kisima Jagne, WR Michael Okonkwo, OL Zach Hemmila, DE Ijeoma Idigwe
Desert Vista- Much like region foe Brophy, the Desert Vista program is loaded with talent on the sophomore level. Unlike the Broncos, however, the program will likely struggle with a lack of depth this upcoming season while coach Dan Hinds gets his kiddie corps ready for future state championship runs.
While they are not deep, the team does possess some great athleticism with speedy Mike Ingrassia set to play both ways (safety and receiver) along with junior stud linebacker Michael Arredondo and Sean Coffinger (defensive end).
Arredondo will also play a key role on offense as a running back, behind Jalen Bibbs (OL/DL) and crew. Coffinger will double as a tight end.
Key Losses: WR Ryne Rezac, DB Anders Battle, OL Jake McGrath, RB Anthony Kereluk
Key Returners: LB/RB Michael Arredondo, DB/WR Mike Ingrassia, LB/TE Sean Coffinger, OL/DL Jalen Bibbs
Hamilton- Any school that loses the talent Hamilton did to graduation last year figures to be in some sort of rebuilding mode.
Hamilton has done just that, rebuilding it's team to be possibly better than the last-- if you can believe that.
Starting with a giant-size offensive line that many believe might wind up being the best in state history, the Huskies look to build on their perfect slate from a year ago and a potential third straight 5A 1 championship in the process.
Having University of Texas-bound Christian Westerman alone makes the front five very formidable. But start throwing in 6-foot-6 Tyler Johnstone and transfer John Archuleta, now you have the makings of something very special.
The one who figures to benefit the most from the massive front is quarterback Kyren Poe, who has the wheels to make plays and will have some time to throw the ball a bit as well.
Hamilton will need to replace Michael Allen and Zach Bauman, the dynamic running back duo that gave fits to the opposition for a couple of years. Jai Johnson is the frontrunner.
Defensively, Tyler Rutt (LB), Shaq Jenkins (DL) and Cedric Parker (DB) all performed very well last year but will need to step up even bigger to cover for the huge losses of Tevin Hood (DL), Ben Peters (LB) and Devon Carrington (DB). Getting DB/WR Malcolm Holland back from Chandler is huge.
Finding athletes has never been a problem for Hamilton, and this year figures to be no different.
Key Losses: OL Gerald Ingallina, WR Steven Hansen, RB Zach Bauman, RB Michael Allen, DL Tevin Hood, LB Ben Peters, DB Devon Carrington, QB Travis Dean
Key Returners: QB Kyren Poe, OL Christian Westerman, OL Tyler Johnstone, DL Shaq Jenkins, DB Cedric Parker, LB Tyler Rutt, WR Tanner Clay, DB Malcolm Holland
Mesa- The 2009 season was a definite roller coaster but finished nicely for the Jackrabbits. Can we expect a repeat for 2010?
Last year, after finishing next to last in the regular season's standings, Mesa managed to shock all comers in the playoffs, making it all the way to the 5A 1 state title game opposite Fiesta Region foe Hamilton.
This year, Mesa will need to overcome not only losses to graduation, but some other very key losses as well.
A few players that were expected back left the program, while Coach Kelly Moore waits on pins and needles to see if his all state defensive standout Tony Vaitafa will be academically eligible at the start of the season.
Two with giant potential are RB Marquis Pharrams and DE Aulelio Olomua who should have impact on either side of the ball. Olomua tore up 2A ball last year; playing at Red Mesa he recorded 23 sacks. If he can be half as productive, he will be an all-state pick.
Key Losses: OL Greg Hakes, WR/DB Kyler Fackrell, RB Devontae Kellybrew, DL Javier Gonzales, DB Ely Lozano, QB Dallin Parker, DL Chase Allen, RB Asure McMillan
Key Returners: LB Tony Vaitafa, RB Geoff Turnbull, DL/TE Aulelio Olomua, OL Fernando Fungia, RB/DB Marquis Pharrams
Red Mountain- Red Mountain started 2009 off right, winning their first five games. They hit hard times and lost the next four and needed a 27-21 win over Desert Vista to get into the playoffs. They lost in the first round to Mesa.
Long time head coach Jim Jones is gone and Ron Wisniewski takes over and has put together a great staff.
They have a three way race at QB and a position change may be in order to whoever doesn't win the job.
Whoever does will have two solid players to throw to. Jacob Tune and is two way star and Elizha Cordova is back after racking up 622 receiving yards and 6 TDs.
Key Losses: RB Derek Molina, OL Taylor Wood, LB Craig Frum, QB John O'Connor, DL Mick Wright, DE Jake Phipps
Key Returners: WR/DB Jacob Tune, WR Elizha Cordova
Coach of the Year- Steve Belles – Hamilton
Offensive Player of the Year- Brett Hundley – QB Chandler
Defensive Player of the Year- Tyler Rutt – LB Hamilton
Top 20 Players
1. Christian Westerman – OT Hamilton
2. Brett Hundley- QB Chandler
3. Tyler Rutt- LB Hamilton
4. Tyler Johnstone – OL Hamilton
5. Malcolm Holland – WR/DB Hamilton
6. Cedric Parker – DB Hamilton
7. Kyren Poe – QB Hamilton
8. Shaq Jenkins – DL Hamilton
9. Tony Vaitafa – LB Mesa
10. Aulelio Olomua – TE/DE Mesa
11. Josh Dennard – WR/DB Brophy
12. Tanner Clay – WR Hamilton
13. Oshae Hatcher- RB Chandler
14. Zach Hemmila – OL Chandler
15. Michael Okonkwo – WR Chandler
16. Jacob Tune – WR/DB Red Mountain
17. Terrell Patton – DE Chandler
18. Ethan Cooper – LB Brophy
19. Tyler Bruggman – QB Brophy
20. Devon Allen – WR Brophy


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Quick Look
Property brokered by
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Kristine Smith
(985) 764-2328
Email Agent
Kristine Smith
(985) 764-2328
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Property DetailsAs you enter into this beautiful custom built home you stand in a 2 story foyer with a balcony overlooking the family rm. Over 3600 sq ft of living space, 4 bdrms, 4 full bths, an office and bonus/rec. rm custom cabinetry & 10 ft ceilings throughout, crown moulding, 3cm granite, viking stove, super lrg pantry, family rm has 20 ft ceilings with fireplace. Lrg master, walkin closet, dual vanities, multiple head shower with claw ft tub. Rear yard access 2 car garage with outside bthrm & storage rm.
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Additional Property InformationThis single family listing located at 305 Union Ct, Laplace, LA boasts four bedrooms, four bathrooms and one partial bathroom. A traditional style property, it is currently offered at $429,900.
This property is listed by Kristine Smith of GARDNER, REALTORS located in Louisiana.


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Listing created by SophiaSeen on August 23, 2013
SOLE2SOLE retails luxury designer handbags, shoes, accessories and jewellery.
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I Pitch Music Suzuki Piano Studio
Greenville, SC
July 2017
For Teachers Instructor Audition
- Jul 24 – 28, 2017 Piano Unit 5 [FULL] Reed May 29
Read More
- Jul 28 – Aug 1, 2017 Piano Unit 6 Reed -
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- See all events at I Pitch Music Suzuki Piano Studio.
322 Stallion Rd
Greenville SC 29617
More Info & Contacts
Jane Kutscher Reed
Phone: 864-263-9678
[javascript protected email address]
The SAA does not run the workshops and summer institutes; it approves separate businesses to run them. For specific information on schedules, enrollment, pricing, housing, etc. please contact sponsoring organizations directly with inquiries. To get your event listed here, please see the Event Listing Guide.


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How to edit form?Asked by jengle on August 10, 2014 at 10:24 PM
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Understanding wck module and C programming with RoboBuilder
- Daniella Ward
- 2 years ago
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1 Understanding wck module and C programming with RoboBuilder RoboBuilder Co., Ltd. 1
2 - TITLE 1. Overview Introduction Structure Requirement Understanding wck Change wck ID Change various wck Parameters PID Gain Tuning and wck Response Feature wck Free Motion Programming RBC Firmware Study for User Created Robot Firmware and C Program RBC Hardware Structure and I/O MAP C Programming with Motion File RBC LED Control Understanding RBC I/O Control wck Position 8 Bit Command Communication Control wck LED Configure wck Parameters - Configure Command and Read Data C Programming with Motion File IR Remote Controller with C Programming Humanoid Robot Maze Escape C Program Summary Variables Operators Control Statement Functions Arrays and Pointers Structure...68 Appendix A. wck Communication Protocol
3 1. Overview 1.1 Introduction This tutorial is for intermediate-advanced RoboBuilder user, who is already accustomed with MotionBuilder, ActionBuilder GUI based programming, and for controlling the individual wck module of robot directly by C language programming. First of all, user needs to understand wck module (hereinafter, wck ) properly. wck is not a just a part of Robot, but also, it has various useful functions itself. More robot project can be done as user uses these wck featured functions. If, user understood wck fully, let s start the C programming with RoboBuilder. By realizing all wck functions with C programming, user learns C programming as well. User learns from link up with MotionBuilder (*.rbm) file to humanoid robot maze escape and IR communication programming in this book. Lastly, basic C programming grammar and simple methods are introduced in this book in order to help to C programming beginners. 3
4 1.2 Structure Chapter 2.1. Change wck ID It describes how to change wck ID parameter configuration. Chapter 2.2. Change various wck parameters It describes how to configure ID, Baud Rate, Over Load, Speed, etc parameters. Chapter 2.3. Set PID Gain and Check wck response time It describes PID control theory and how to adjust PID value in accordance with PID gains. Chapter 2.4. wck free motion programming It describes how to do the wck direct programming without controller. Chapter 3.1. Firmware and C programming It describes general firmware s definition and C programming structure for firmware. Chapter 3.2. RBC hardware and I/O MAP It describes RBC hardware structure and I/O MAP Chapter 3.3. C Programming with Motion file It describes provided C programming project file structure. Chapter 3.4. Control RBC LED ( Project 3-4 RBC_LED ) It describes how to control RBC LED. Chapter 3.5. Control wck Position ( Project 3-5 wck Position ) It describes how to control wck position for Robot motion. Chapter 3.6. Control wck LED ( Project 3-6 wck_led ) It describes how to control wck LED and Command packet communication. Chapter 3.7. Configuration of wck parameter ( Project 3-7 wck_parameter ) It describes how to configure wck parameter with C programming. 4
5 Chapter 3.8. Make C program with Motion file ( Project 3-8 Motion_Program ) It describes how to include motion file into C program. Chapter 3.9. Using IR controller and Understanding C program ( Project 3-9 IR_RemoteCon ) It describes IR remote controller principles and how to change the configuration. Chapter Humanoid Robot Maze Escape Programming ( Project 3-10 Maze ) It describes how to program maze escape programming for humanoid robot by using RoboBuilder distance sensor. Chapter 4. C Programing Summary It describes basic C programming grammar for beginner. 1.3 Requirement - RoboBuilder Kit (5710K or 5720T model) - CodeVision-AVR C compiler CodeVision C compiler can be purchased from or Free released version for students is not enough to support the examples in this book. 5
6 2. Understanding wck 2.1 Change wck ID In RoboBuilder kit, wck is set own ID from 0 to 15. If necessary, user can change ID No. from 0 to 30 as user want to change. Requirements RBC (Control Box) : 1 EA wck : 1 EA wck Cable : 1 EA RS-232 Serial Cable (PC cable) : 1 EA Window XP based PC and wck Programmer software Let s change wck ID 2 to ID 0. Connect wck, RBC, PC cable and Power adapter as the below. User can connect any of connector in RBC box. But only one wck should be connected. Press PF2 button then, power on RBC box. Then RBC Box goes into PC control mode. PF1 LED (Blue), PF2 LED (Orange) is ON together. (In wck Programmer ver 1.34 or higher, this procedure is not needed.) 6
7 Click Basic Setting tap in wck Programmer. After connected with PC COM port, click Scan Baud, then wck Baud Rate is shown as the below. If Try Again message is shown, please check the wck cable and PC cable connection. 7
8 If Scan ID button is clicked, it shows the present wck ID as shown in the below. Select desired wck ID No. in Set ID in drop box, then click Set ID button. It shows Good ID Setting!!! message, then new wck ID is shown in Scan ID drop box. Now, wck ID has changed. 8
9 2.2 Change various wck Parameters User can change not just wck ID, but also Speed, Acceleration, Over Load, Boundary, PID gain, etc. All these parameter configuration is done in same way. Changed parameter can be initialized to factory setting value as user click Set Default button in Special Setting tap. As Set Default function is used to initialize the various parameters at one time, it is useful to check whether the parameters have been changed. 9
10 2.3 PID Gain Tuning and wck Response Feature When user gives the command to wck to target point, wck moves (rotates) to target position. DC motors have the movement value as shown in the below. Motor needs some time to move to the target point. Because of this reason, many motor control method has been studied in order to reduce this time. wck is applied PID control method, which is used in many industrial facility. Further, user can configure PID Gain parameter and study the various motor features as wck Programmer has GraphView function. 1. Requirements RBC Box : 1 EA wck : 1 EA wck Cable : 1 EA RS-232 Serial Cable(PC cable) : 1 EA Window XP based PC and wck Programmer software Please refer to the wck Programmer user manual during this procedure. Connect the wck, RBC, Power Adapter and PC cable as shown in the below. 10
11 wck can be connected any connector in RBC Box. Run wck Programmer software. Click button after select available COM Port. Click Scan ID, Scan Baud, Scan Gain, Scan Speed, Scan Boundary buttons in order. It shows the present values of wck. For PID control study, input Upper 254, Lower 1, then clickt Set Boundary. If Boundary width is narrow, wck movement range becomes narrow. Therefore, set maximum width as (254, 1). Boundary means wck movement range width. 11
12 2. wck Programmer function for PID control BasicSetting Dialogue to set PID Gain. AcionCon Dialogue to move wck to target point.. GraphView function to check wck movement. 1 Set wck PID Gain. 12
13 2 Command wck movement to target point A. Click ActionCon tap. B. Click Scan wck button, and wait around 10 seconds. C. It shows the connected wck ID. D. Input desired wck Target Position. E. Select that wck ID. F. Click ActionRun button. 3 Check GraphView A. Click GraphView tap B. Click ViewGraph button. Then it shows Graph. C. Select proper scale. D. Click SaveGraph button to save the BMP image, if necessary. After check the wck response graph, initialize wck position in order to set Gain value. In Command Pad panel, click Command Execute to initialize the wck position. 13
14 As user follows below examples, user can understand wck movement features in accordance with PID parameters. As P gain value is increased, wck response time is decreased. But Overshoot value is increased as shown in the above graph. This means, it gives faster response, but target position value is unstable. 14
15 Let s change P gain and D gain together. If user change P gain and D gain together, overshoot value is decreased relatively. But target position value is still unstable. 15
16 Let s change P, D and I gain value together. wck response time is decreased, there is no overshoot value and it goes target position exactly. wck response feature would be much improved if PID gain is applied, if user use PID tune-up method. P, I, D has each characteristics, respectively, as shown in the below. P Gain (Proportion Gain) : It reduces wck response time. I Gain (Integral Gain) : It reduces tolerance. D Gain (Differential Gain) : It reduces overshoot value and make it stable. Just increasing the Gain value does NOT means that is has good response feature. (In example graph 10, P gain is 40, this is not so high value.) Each parameter affects each other. Therefore, users should tests several times to optimize the gain value, and do PID control study. 16
17 2.4 wck Free Motion Programming wck has free motion programming function itself. When user does free motion programming, RBC should be selected Non-Standard Platform (PF2 orange LED on) mode. Then, wck does movement independently as long as electrical power is provided.) Requirements RBC : 1 EA / wck : 2EA / Cds sensor : 1EA RS-232 Serial Cable (PC cable) wck Programmer Tool Below is MotionPrograming tap for wck free motion programming. If you look at green box in wck Programmer, you can see Main Instruction, Sub Instruction, Data, and it has 8 lines in left side from L1 to L8. wck does 8 motions (L1~L8) in order. 17
18 Let s find out what is included and the meaning of Main Instruction, Sub Instruction, Data columns. The following is free motion programming logic table. Main Instruction had main instructions (0~8), and Sub Instruction is for detailed instruction for main instruction. Data is position or control values. User can input the values by keyboard. Example 1] wck movement from 100 degree to 160 degree in every second with speed 1. 18
19 If programming is finished as shown in the above, click Motion Set button to save in wck. After above message box, click OK, then power off and on. Then wck starts free motion itself if power is supplied. In order to delete free motion programming, click Clear All Instruction select 0 in Set No. of Instruction to delete the motion. button, and Let s try simple robot with free motion programming. [ Wheel Robot 1 ] Prepare two wcks, wck ID0, wck ID1. Assemble the wck as shown in the below. This Robot will not move because it does NOT include RBC Box. However, it would be possible without RBC if you use free motion programming method. Free motion programming is for each wck. Therefore, two different programming are needed for twowheeled Robot. 19
20 In order to move forward, one wck should move in clockwise direction, and the other wck should move counterclockwise direction. For backward movement, programming in vice versa. Let s program two wcks for forward movement and backward movement in every second interval when power is supplied. For ID 0 and ID 1 wck, it should be programmed respectively. After programmed it as the above, supply the power into wcks, then Robot will move forward and backward direction. [ Wheel Robot 2 Sensor based Robot] wck has own I/O port itself. (Digital Output 2, AD Input 1). As you use AD Input, Robot will move as light level. In this example, Cds sensor is used. 9V Battery wck wck Cds Cds 20
21 For Cds sensor, solder with resistance 5.1k as shown in the below. 5.1k ohm Cds : Room Light K ohm If lux. is high, resistance is decreased. Therefore, AD value is lowered by voltage distribution law. Program the wck in wck Programmer as shown in the below. Robot measures wck light level. Therefore, Robot moves depends on AD set value 170 as programmed in the above. User can make various wck application Robots if you use various wck functions. 21
22 3. RBC Firmware Study for User Created Robot 3.1 Firmware and C Program Firmware is generally defined as a micro program that is saved in ROM memory. As an aspect of program, it is almost same as software, but it has much closer relationship with hardware. Firware is faster than software, but slower than hardware. And it is not comfortable for general user. It is quite dependent on hardware, therefore it should be changed when hardware component is changed. Firmware can be considered as a software that is close to hardware. If you use RoboBuilder Firmware Upgrade Tool, user-created firmware can be saved into RBC and is possible to operate wck. This motivates user to study firmware easily. Generally, user needs certain electronic boards or other hardware devices to study firmware, but RoboBuilder user does NOT need because RBC and RBC Firmware Tool are everything that user needs to study firmware. If user-created firmware is not working at all, user can simply recover it with RoboBuilder published firmware version in RoboBuilder website. How general user can create own firmware or how it can upload the firmware into RBC box? Let s find out in next pages. The below is the simple structure of RoboBuilder firmware generation. 22
23 Write C language program. User compiler (ex. CodeVisionAVR), to generate.asm, or.hex file. Upload firmware file (*.hex) into RBC Box. For C coding, user should know C language programming well. Please refer to the various C programming books in the bookstore. In this example, we assume that user knows basic C programming method. 23
24 Below is LED ON/OFF program flows by C language. #include <mega128.h> is header file to use DDRA, PORTA. Complicated sentences is redefined with #define word to understand program easily. This program is for 8 LEDs On/Off one time. If #define word is not used, program would be like the below. 24
25 3.2 RBC Hardware Structure and I/O MAP Below is RBC hardware block diagram. User can understand how this hardware is connected. RBC is connected with power supply, RS-232 communication, TTL UART, wck power line and PSD sensor. Below is RBC micro-controller ATmega128 PIN allocation and I/O map. 25
26 PIN No. PIN Name I/O Dir Description 1 PEN X Not Connected 2 (RXD0/PDI) PE0 I Communcation with wck, Sound IC (YNN Model) 3 (TXD0/PDO) PE1 O Communcation with wck, Sound IC (YNN Model) 4 (XCK0/AIN0) PE2 X Not Connected 5 (OC3A/AIN1) PE3 O Speaker Output (YNN Model) 6 (OC3B/INT4) PE4 X 3 Axis sensor (SCK) 7 (OC3C/INT5) PE5 X 3 Axis sensor (SDI) 8 (T3/INT6) PE6 I IR Remote Controller Receiver Module (38kHz) 9 (ICP3/INT7) PE7 I Bluetooth Signal Receiver 10 (SS) X Not Connected 11 (SCK) PB1 O For ISP 12 (MOSI) PB2 O Power Supply 24LC256T-I/SN (High : ON, Low : OFF) 13 (MISO) PB3 X Not Connected 14 (OC0) PB4 O Battery Charging (High : Charging ON, Low : Charging OFF) 15 (OC1A) PB5 O PSD Sensor GP2Y0A21YK0F Power Control (High : ON, Low : OFF) 16 (OC1B) PB6 O Sound IC Reset (High : Disabled, Low : Enabled) 17 (OC2/OC1C) PB7 X Not Connected 18 TOSC2 / PG3 X Not Connected 19 TOSC1 / PG4 X Not Connected 25 (SCL/INT0) PD0 O For Serial EEPROM Communication (SCL) 26 (SDA/INT1) PD1 I/O For Serial EEPROM Communication (SDA) 27 (RXD1/INT2) PD2 I Communication with PC 28 (TXD1/INT3) PD3 O Communication with PC 29 (ICP1) PD4 X Not Connected 30 (XCK1) PD5 X Not Connected 31 (T1) PD6 X Not Connected 32 (T2) PD7 O wck power supply (High : ON, Low : OFF) 33 (WR) PG0 X Not Connected 34 (RD) PG1 X Not Connected 35 (A8) PC0 X Not Connected 36 (A9) PC1 X Not Connected 37 (A10) PC2 X Not Connected 38 (A11) PC3 X Not Connected 39 (A12) PC4 X Not Connected 40 (A13) PC5 X Not Connected 41 (A14) PC6 X Not Connected 42 (A15) PC7 O Power LED (Red) 43 (ALE) PG2 O Power LED (Green) 44 (AD7) PA7 O Error LED (Red) 45 (AD6) PA6 O Run LED (Green) 46 (AD5) PA5 O Run LED (Blue) 47 (AD4) PA4 O PF2 LED (Orange) 48 (AD3) PA3 O PF1 LED (Red) 49 (AD2) PA2 O PF1 LED (Blue) 50 (AD1) PA1 I PF2 Switch (High : Not pressed, Low : Pressed) 51 (AD0) PA0 I PF1 Switch (High : Not pressed, Low : Pressed) 54 (ADC7/TDI) PF7 I For ISP 26
27 55 (ADC6/TDO) PF6 O For ISP 56 (ADC5/TMS) PF5 O For ISP 57 (ADC4/TCK) PF4 O For ISP 58 (ADC3) PF3 I MIC OUT(0~5V) 59 (ADC2) PF2 I GND 60 (ADC1) PF1 I Input Voltage (=wck Output Voltage x 560 / 1560) 61 (ADC0) PF0 I PSD Sensor - GP2Y0A21YK0F Signal (0~3.2V) In order to program firmware, user should know I/O MAP, however, it is difficult to memorize all of the above. Therefore, check the necessary part when user program the certain firmware. 3.3 C Programming with Motion File Download the C Programming with motion file data from RoboBuilder website (Support - Specialist Tip section). In cv_exam folder, below files are located. If CodeVisionAVR is installed, cv_ex1.prj is shown as the above. Click cv_ex1.prj. File structure would be as the below. Example project has three files (Main.c / Comm.c / DIO.c ). 27
28 Double-Click Main.c. It looks quite complicated code, however, you can just take a look at the outline now. Most #define word is included in xxx.h file. 28
29 Press [F9] to compile it, and click [OK]. It shows each include files, used variables and used functions. If you check out [Macro.h] file, there are many #define words. Dividing the code with several files are effective way to mange and understand it. 29
30 3.4 RBC LED Control Understanding RBC I/O Let s change the example project and control RBC Power, Run, Error, PF1 and PF2 LED button. Requirements RBC : 1EA RS-232 Serial Cable(PC cable) RBC Firmware Upgrade Tool CodevisionAVR Complier Published RBC Firmware Let s check out RBC IO MAP first for controlling 5 LED in RBC. It is PIN No, PIN Name, IO Direction, Description in left order. For example, Power LED(Red) is connected with ATmega128 No PC7 Pin. Power LED (Red) is On / Off in accordance with Pin output. However, user can not check this only with IO MAP. Therefore, let s find out in source code level. 30
31 If you check out Main.h, all lines are used #define. Power_LED (Red) is defined as the below. #define PWR_LED2_ON CLR_BIT7(PORTC) #define PWR_LED2_OFF SET_BIT7(PORTC) Therefore, you use PWR_LED2_ON in source code. This meaning is clearing PORTC 7 Pin (Output 0 ). In Macro.h, it is defined as #define CLR_BIT7(x) (x &= 0x7F) CLR_BIT7(PORTC) is defined as PORTC &= 0x7F. CLR_BIT7(PORTC) means 0, output 0XXX XXXX in PORTC. (X is 1 or 0, Don t care). PORTC is hardware name in ATmega128. In order to understand PORTC &= 0x7F, please refer to the C programming with ATmega128 books. In source code, use PWR_LED2_ON for Power_Led(Red) on, and use PWR_LED2_OFF for power-off. Let s revise the code for programming LED blinking in RBC. 31
32 CPU starts from Main( ), WORD (unsigned int) I, lmsec, HW_init(), SW_init(), SpecialMode() Power_LED(Red) On/Off loop in every 0.5 sec. #asm( sei ); TIMSK = 0x01; is hardware dependency sentence. Revised part is /*, */ and Power LED (Red) On/Off loop. Press, [SHIFT]+[F9]. 32
33 In Information window, click Cancel, then run RBC Firmware Upgrade Tool. Connect PC and RBC with PC cable, then power on RBC. Check COM PORT and Baud Rate, Select Main.hex file that is just made. Click [Click here and Push Reset Button]. Use tweezers and press Reset button that is located between PF1 and PF2. Later, it shows message box. If succeeded, Power_LED (Red) is blinking in every 0.5 sec. In RBC, 8 LEDs are equipped. Try all other LED blinking in several ways. If you would like to recover with normal published firmware, please download from RoboBuilder website (Support Download section). Then upgrade the firmware by using RBC Firmware Upgrade Tool. 33
34 3.5 Control wck Position 8 Bit Command Communication Revise the example project file to control wck position. Requirements RBC : 1EA / wck : 1EA RS-232 Serial Cable(PC Cable) RBC Firmware Upgrade Tool CodevisionAVR Compiler wck is smart actuator module through RBC UART communication. Therefore, user need to know the communication between wck and RBC in order to control wck. Firstly, user should know the Packet-Communication concept. Packet-Communication is receiving and transmitting the pre-engaged information in order. For example, let s say command 01 Move wck ID 0, and command 10 is Stop wck ID 1. By doing this way, packet-communication would be very effective way to communicate each other. Let s see how RBC and wck communicates between them. Download wck module protocol table file from RoboBuilder website. (Support Tips for Specialist Section) Let s find out what this table means. For example, RBC commands Move to 200 position with torque 1 to wck ID 01. This can be re-written as follows; 0xFF(header) + 0x21(Torq(1)+ID(1)) + 0xC8(Target Position(200)) + 0x69(CheckSum) We do NOT know what this means, but wck ID 01 moves to 200 position with torque 1. 34
35 Firstly, RBC sends Header 0xFF, then Torque, Target Position and CheckSum in order to wck. Therefore, user should follow the communication information sequence. Let s see the below firmware source to control wck. In Comm.c file, there is void scitx0data(byte td) function. void means there is no return value. And BYTE td means input data to be processed. Let s understand this briefly that hardware send data if data is input for td variable. For example, if you want to send 200 to wck, just input scitx0data(200). To move wck ID01 to 200 position, it sends 4 hexadecimals. Sending data : [0xFF] + [0x21] + [0xC8] + [0x69] 35
36 Therefore, user uses scitx0data function and data 0xFF, 0x21, 0xC8, 0x69 for programming. Let s program that wck moves 200 position and moves 50 position. Press [SHIFT] + [F9] to generate firmware file. RBC Power_LED will blink and wck moves left and right side continuously. However, it is very uncomfortable to calculate hexadecimal values every time it changes movement values. Therefore, put one function in Comm.c file and declare this function in Comm.h as shown in the below. If you know C language operations <<,, ^ and &, you can understand the above function. 36
37 Let s revise the code in Main() function as the below. If you revised all source code, compile the code and make the *.hex file. Download this firmware file to RBC as you use RoboBuilder Firmware Upgrade Tool. The above-right side C code is much easier than left side C code to understand. 37
38 3.6 Control wck LED Requirements RBC : 1EA / wck : 1EA RS-232 Serial Cable (PC cable) RBC Firmware Upgrade Tool Code VisionAVR Compiler As wck position control, let s control wck I/O PORT (LED) through packet communication. Actually, RBC and wck use interrupt communication, therefore it increases CPU operation efficiency. Then, what is Interrupt? Atmega128 is a CPU that processes one instruction at one time. It could not process two tasks at the same time. But what would be happened if B task should be done when CPU is in the middle of processing the A task? It stops A task, then process B task first if B task is more important. This is called Interrupt method. Depend on task importance, CPU possession is changed. Generally, main() and external functions are less priority than certain hardware function. RBC-ATmega 128 CPU can decide this priority. Controlling wck position is Polling method. But if you use Interrupt method, it can response much faster from the environment change. 38
39 Let s see the Polling method code and Interrupt method code in the below. It looks that c source code of Polling method is shorter and simple. However, Interrupt method is faster since it uses Data Load method and Function calling process is more effective way. Transmission interrupt function is as the below. Process from transmitting the first data to the second data, process time is different depends on automatic or manual. Process time is accumulated for this reason. So, CPU is used 100%, or sometime, 80% used. Handling RBC and wck means that it makes the communications between RBC and wck smoothly. Using interrupt method is more effective way for handling wck. 39
40 For more detailed information about Interrupt method, please check out ATmega128 books. Let s control wck-1108t, wck-1111t module LED through I/O Write protocol. In Comm.c file, write the function as the left side, declare the function as the right side in Comm.h file. Let s analyze IOwrite(ID, IOchannel) function. 40
41 Please make *.hex file and download to RBC. wck will move from 200 position to 50 position as wck internal LED is blinking. 41
42 3.7 Configure wck Parameters - Configure Command and Read Data Requirements RBC : 1EA / wck : 1EA RS-232 Serial Cable(PC Cable) RBC Firmware Upgrade Tool CodevisionAVR Compiler If wck ID has been changed, existed programs wck position control and wck LED control does NOT work. wck ID information is included in packet. Therefore, it does not work if wck ID is not matched. Let s check the communication protocol first. ID set protocol is as the below. 6 byte data is transmitted totally. [header] + [mode ID] + [mode] + [newid] + [Byte5 (newid)] + [CheckSum] First [mode] means Configure Command, second [mode] means ID Set. In Comm.c file, below source code is included. 42
43 Data to be transmitted are 6 Bytes. 2 Bytes are Header and CheckSum, and in SendSetCmd function, Configure Command (mode(7)) is shifted left side automatically. Therefore, you should decide ID, Data1, Data2, Data3. If you check out communication protocols again, Mode(12) value should be input in Data1. In Data2 and Data3, you can input ID No. to be changed. SendSetCmd (wck ID to be controlled, 12, new ID, new ID). For example, if you want to change the wck ID with 10, it should be like the below. SendSetCmd (1, 12, 10, 10) 43
44 Let s include ID Set command in the control wck LED source code. Last wck ID was 1. Change the source code and check out the RBC and wck movement. Does wck LED is blinking and moving left and right side? It blinks only wck LED, and user will know the reason. Let s look at the code again. Do you understand SendSetCmd(1, 12, 10, 10); function? Let s change with SendSetCmd(1, ID_SET, 10, 10). In previous source code, it is difficult to know the meaning of 12 and 10 ) before you refer the communication protocol table. Add #define ID_SET 12 in Main.h file. 44
45 In order to change the wck ID with 1, revise the code as the below. wck ID is changed from 10 to 1. SendSetCmd( 10, ID_SET, 1, 1 ); As shown in the above, parameters can be changed from source coding by user. 45
46 3.8 C Programming with Motion File Change the motion file as a header file (*.h) format. This is not for using RoboBuilder standard firmware, to use user-defined firmware to run motion file directly. Requirements Robobuilder Robot : 1set RS-232 Serial Cable(PC Cable) RBC Firmware Upgrade Tool CodevisionAVR Compiler Published RBC firmware data (Please see the Example project : 3-8 Motion Program ) 1) Example Motion File 1 Project File : p_ex1.prj 2 Motion File : m_ex1.rbm 2) Example C source file (CodeVisionAVR version d) 1 Project File : cv_ex1.prj 2 Unit File : main.c, comm.c, dio.c 3 Header File : main.h, comm.h, dio.h, macro.h, m_ex1.h NOTE) MotionBuilder version : 1.10 beta or higher version. CodeVisionAVR : d Job Procedure Change into Header File (*.h) 1. Run MotionBuilder. 2. Click Open button, then load p_ex1.prj in motion_exam folder. 3. Click Motion List button. 46
47 4. Click Creator Header File after you select ME_FMT#1 in Header File Format. 5. Input Header file name (*.h), then, click Save button. In the below example, file name is p_ex1.h. 47
48 6. It is asked whether you see the generated header file. If you click Yes, it shows header file contents. 7. Header file is generated successfully. Registering header file in C source code 1. Move 'p_ex1.h' file into cv_exam\src folder. 2. Load cv_ex1.prj in CodeVision. 3. Add below code in comm.c file. #include "p_ex1.h" 4. Match the below array name with motion name. (Use big letter.) For instance, motion name is M_EX1, gpt_table = M_EX1_Torque; gpe_table = M_EX1_Port; gppg_table = M_EX1_RuntimePGain; gpdg_table = M_EX1_RuntimeDGain; gpig_table = M_EX1_RuntimeIGain; gpfn_table = M_EX1_Frames; gprt_table = M_EX1_TrTime; gppos_table = M_EX1_Position; Motion.NumOfScene = M_EX1_NUM_OF_SCENES; Motion.NumOfwCK = M_EX1_NUM_OF_WCKS; 5. Header file registering finished. Create firmware file (*.hex) 1. Click Project-Make menu in CodeVisionAVR, or press Shift + F9 key. 2. firmware file (*.hex) will be generated. Download firmware and Play RoboBuilder 1. Connect Power Adapter and PC Cable, then Power on RBC. 2. Run RBC Firmware Upgrade Tool and set proper COM Port. 48
49 3. Click 'Click here and Push Reset Button'. 4. Press Reset button (It is located between PF1 and PF2 button), then it starts upgrade. 5. If finished, it shows 'Flash File successfully downloaded.' message box. 6. Disconnect RoboBuilder from PC, then press PF1 button to check out. Generated motion header file has wck torq, target position, frame no., etc. This information is saved in C program header file as an array. C program use these data to control wck. 49
50 Generated header file data are assigned as the structure members. Data is divided Motion data and Scene data. Based on these two data, frame data is needed to connect each Scene data. And it send the Position move instruction to wck. In example source code, SampleMotion() function should be included in order to run motion header file. SampleMotion() function load various data and run motion file. Therefore, you can just change the motion file name variable properly if you would like to run other motion file. 50
51 If you look at the above source code, M_PlayFlash() function gets motion information and make and send the frames to each wck. Let s check out the below Flow_Chart how M_PlayFlash() function makes motion. M_PlayFlash function is running until motion is finished. GetMotionFromFlash(), GetSceneFromFlash(), CalcFrameInterval(), SyncPosSend() functions are included in Comm.c. If you don t use wck LED function, you can remove SendExPortD() function. Advanced algorithm walking or sensor function can be included in this source code. So you can build much smarter robot as you do C programming. 51
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text:
|17 Sep 2012
windows 7
Explorer crashed, restarted computer, cant run system repait
last night I was doing reserach for a school project. I went to windows explorer and it went all white, saying it was not responding. I powered of then powered back on my computer, and it reccomended that I run system repair. I tried to run it, but it gets to the screen and just shoes a cursor and a black background. I let it sit overnight thinking it would take a while, I woke up and it hadn't changed. I tried running Windows normally but it just gets to the starting Windows screen and wuts there. What do I do?
|My System Specs
|17 Sep 2012
Welcome to SevenForums.
Can you boot into Safe Mode?
Ø Power down your computer.
Ø Power up your computer.
Ø IMMEDIATELYStart tapping the SPACEBAR
Ø When the Windows Boot Manager screen appears,
Press the F8 key
Ø The Advanced Boot Options screen will appear.
Ø Using the down arrow key, highlight Safe Mode
Ø Press the ENTER key.
In shorthand,
PowerUp | Spacebar until Windows Boot Manager
| F8 | Safe Mode | ENTER
|My System Specs
|17 Sep 2012
Kindly follow the below mentioned steps in order:
1. Confirm Hard Drive is recognized in BIOS. If yes, follow next step. If NO, load BIOS defaults and reseat Hard Drive.
2. Run Hardware Diagnostics on your system.
3. Boot to Safe mode and perform system restore. If system restore fails or unable to access safe mode, follow next step.
4. Run Start Up repair from the URL mentioned: http://windows.microsoft.com/en-GB/windows-vista/Startup-Repair-frequently-asked-questions
5. If your system is able to boot, then download the update from the URL mentioned: http://support.microsoft.com/kb/2515325
Kindly revert and let us know the status.
|My System Specs
|17 Sep 2012
You will find our tutorials here rather enlightening.
|My System Specs
|17 Sep 2012
Hi Karlsnooks,
Thanks for the information. I will go through those tutorials.
|My System Specs
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Viennese Cake
Be the first to review
READY IN: 1hr 10mins
Recipe by Scandigirl
This Austrian recipe was given to me years ago when we were on a ski-vacation to Vent in South Tyrol by the owners of Hotel Post. I have made it for guests and birthdays for many year, and it always receives compliments and recipe requests. You will not regret making the efford!
See Discussion:
Ingredients Nutrition
- 2 ounces cocoa powder
- 3 ounces pastry flour
- 8 egg yolks
- 1 whole egg
- 6 ounces fine sugar
- 1 tablespoon water
- 2 ounces graham crackers
- 2 ounces ground almonds
- 8 egg whites
- 2 tablespoons icing sugar
WHipped Cream Frosting
- 2 cups whipping cream
- 2 tablespoons icing sugar
- 1 can pitted cherries
- 3 tablespoons Tia Maria
- 1 tablespoon cornstarch
- 1 tablespoon water
Directions See How It's Made
- Preheat oven to 375 degrees F.
- Mix together the cocoa powder and the flour in a bowl and set aside.
- In a separate bowl, beat the egg yolks, the whole egg, the sugar and the water with an electric beater for 8-10 minutes.
- Blend the Graham crackers and the powdered almonds with the egg mixture.
- Put the egg whites in another bowl and beat until stiff.
- Add the icing sugar and continue to beat for 30 seconds.
- Fold the beaten egg whites in with the egg yolk mixture.
- Add the cocoa and flour mixture and fold again.
- Pour the batter into a buttered and floured round 10" cake pan and bake in the centre of the oven for 30-40 minutes.
- Remove and let stand for 5 minutes, then turn onto a cake rack.
- Frosting: Whip the cream until quite firm, then blend in the icing sugar.
- Put the pitted cherries along with half the juice in a saucepan.
- Bring to a boil over medium heat and add the Tia Maria.
- Mix the corn starch with the tablespoon of water and add this mixture to the cherries.
- Continue to cook for 2-3 minutes, stirring constantly.
- Let stand to cool.
- Cut the cake into 3 equal layers.
- Cover the bottom layer with cherries and the next two layers with whipped cream.
- Decorate with cherries and grated chocolate.


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S L Electronics
Address: Kusumbai Chawl, Kalina Kurla Rd, Opp Kalina Old Market,santacruz(e), Santacruz(e), Mumbai, Maharashtra, 400098
Phone number: 022 - 26100841 , 26160240Post A Recommendation Bookmark this Business Claim this Business
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