Running the demos

This section provides instructions on how to run the demos. Information on what these demos does is provided in following sections.

downloading the example repository

The git repository is here.

running the non bursting mode demos

starting the o80 standalone

You may start a standalone:

cd o80_example/demos
python3 ./standalone_backend.py

A plot should appears. At the bottom, the frequency of the standalone is plotted. At the top, the values of the states of the robot are plotted (they should be at 0 for now).

starting introspection (optional)

After starting the standalone, in another terminal:

cd o80_example/demos
python3 ./introspection.py

This will result in the runtime display of the activity of the frontend and the backend.

running demos

In another terminal, run one of the demo, e.g. “duration_commands”.

cd o80_example/demos
python3 ./duration_commands.py

You should see the state of the robot change. You may thereafter run other demos (all python files with the exception of “bursting.py” and “standalone_backend_bursting.py”).

running the bursting demo

In the bursting mode, the standalone does not run at a specified frequency, rather, it execute iterations upon frontends requests.

starting a bursting standalone

cd o80_example/demos
python3 ./standalone_backend_bursting.py

You should see a plot, showing the state values of the robot (now at 0).

running the bursting demo

In another terminal:

cd o80_example/demos
python3 ./bursting.py

The plot should show the state values change.