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4.2
Communication through a Khepera
Commands can be sent to the turret using the KNet protocol as any usual
turret. The serial link between the Khepera and the host computer must
be set up as usual depending on the robot’s running mode (see the Khepera
User Manual for details). The serial cable can be connected to the Khepera
itself or to any turret except the K6300 vision turret.
When switching system power on, the Khepera boot message should be
displayed on the terminal. Normal Khepera commands can be sent and the
robot should react as usual.
4.2.1
Detection Test
Once the serial link between the Khepera and the host computer is valid, the
”net” command should be used to detect all turrets plugged on the KNet.
The K6300 vision turret must be detected as displayed on figure 4.3.
Figure 4.3: Detection test result
4.2.2
KNet protocol test
If the turret is correctly detected, serial commands can be tested. The
usual ‘T’ syntax must be used to send commands through the Khepera
to the turret. Anyone of the supported KNet commands can be executed
and should return the corresponding answer, please refer to appendix 8 for
further detail.
K-Team S.A.
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