This is a simple OpenGL application to simulate a robot (mechanic arm) that can fly rotating it's claws. This is a college work of Graphic Computer discipline, orientated by professor Moisés Henrique Ramos Pereira (moiseshrp@gmail.com).

The main goal of this software is to experiment and demosntrate the OpenGL resources, specialy the basics ones.

The software is written in C++ and, besides OpenGL, it uses GLU and GLUT (freeglut) library.

I used Eclipse Indigo C++ with MinGW in Windows 7. But, the software was designed to be cross-platform (as possible) and was tested in differents SO and compilers.

The "compile.sh", taken form console output of eclipse "build project" command, is a batch file intented to easily generate the executable in Linux shell (if don't fail :) Obviously, you need to grant permission to execute the file (chmod +x compile.sh). if it works, a executable binary file, named "opengl-robot", will be created at the same directory.

The simulator uses keyboard to trigger robot actions and mouse to change the camera perspective.

• General commands

  • Arrows keys right or left: Moving robot along X axis
  • Arrows keys up or down: Moving robot along X axis
  • "F" or mouse wheel: Approaching the camera (ZOON IN)
  • "V" or mouse wheel: Take away the camera (ZOON OUT)
  • Move mouse with right button pressed: Rotate the camera
  • "P": Toggle (on/off) the grid boundary

• Mode "on the platform" commands

  • "R": Reposition the robotic arm and camera (RESET)
  • "H": Start "flying" mode
  • "C" or "Z": Rotate the arm base at Z axis
  • "S" or "X": Open/close the claw
  • "A" or "Q": Rotate the arm (set)
  • "E" or "D": Rotate the hand (propeller)
  • "I" or "K": Open/close the angle between the blades (hand parts)
  • "O" or "L": Increasing/decrease attack angle of blades (hand parts)

• Mode "flying" commands

  • "R": Reposition the camera (RESET)
  • "T": Toggle (on/off) the propellers rotation (RESCUE)
  • "G" or "B": Get up/down the robot
  • "+" or "-": Increase/decrease propeller acceleration
  • "Y": Safe landing at platform

The software was tested in those environments:

• Windows 7 Professional 32bits

  • Eclipse IDE for C/C++ Developers Version: Indigo Service Release 2 Build id: 20120216-1857
  • MinGW com gcc (GCC) 4.6.2
    • freeglut 2.8.0 (para Windows 32bits)
  • Microsoft Visual Studio 2010 Version 10.0.40219.1 SP1Rel (Microsoft Visual C++ 2010 01021-532-2002102-70626)
    • freeglut 2.8.0 MSVC (para Windows 32bits)

• Ubuntu 11.10 (x86) (Linux version 3.0.0-17-generic)

  • g++ (Ubuntu/Linaro 4.6.1-9ubuntu3) 4.6.1
  • libqt4-opengl/oneiric-updates uptodate 4:4.7.4-0ubuntu8.1
  • libglu1-mesa/oneiric-updates uptodate 7.11-0ubuntu3.2
  • freeglut3/oneiric uptodate 2.6.0-1ubuntu2

• OpenSUSE 12.1 (x86_64)

  • g++ 4.6.1
  • opengl/glu
  • freeglut

Frederico Martins Biber Sampaio fredmbs@gmail.com

Cristiano Madeira cristianomad@gmail.com