RHexLib Robot Control Software Library

RHexLib is a general purpose software library for creating real-time control systems. It was originally created to run on the RHex hexapod robot, but evolved to be a more general collection of tools that can be used to build other control systems as well.

For starters, there is a tutorial section for a quick overview of library features as well as a section on Frequently Asked Questions for commonly encountered problems. Below are links to more detailed treatments of features and components provided by RHexLib.

The Module Manager: A synchronous scheduler for simple periodic tasks
Facilities for Configuration and Message Display".
State Machine tools for designing controllers as formal state machines.
A reliable Communications Library which provides message based communication facilities through a variety of physical interfaces.
A distributed Database (Blackboard) which provides facilities to access a blackboard architecture shared over the network.
Logging Services to enable remote logging of data acquired in real-time.
The Mode Supervisor: A structured interface for remote configuration, switching and control of a number of operational "modes".
A transparent Hardware Interface to facilitate code reuse across different physical or simulated instantiations of system hardware.
Miscellaneous library utilities that implement a variety of useful functionality.

Coding with RHexLib also requires adherence to a small set of guidelines and code standards to ensure consistency and uniformity across all developers.

RHexLib Reference Documentation