Include initial version of two joints robotic arm model.

Signed-off-by: Pavel Pisa <pisa@cmp.felk.cvut.cz>

diff --git a/demo/canopen_2j_arm/canopen_2j_arm_ert.slx b/demo/canopen_2j_arm/canopen_2j_arm_ert.slx
new file mode 100644 (file)
index 0000000..96377e4
Binary files /dev/null and b/demo/canopen_2j_arm/canopen_2j_arm_ert.slx differ

diff --git a/demo/canopen_2j_arm/canopen_2j_arm_setup b/demo/canopen_2j_arm/canopen_2j_arm_setup
new file mode 100755 (executable)
index 0000000..26998eb
--- /dev/null
+++ b/demo/canopen_2j_arm/canopen_2j_arm_setup
@@ -0,0 +1,16 @@
+#!/bin/sh
+
+cansend can0 '000#02.00'
+cansend can0 '601#23.00.1A.01.10.00.41.60'
+cansend can0 '601#23.00.1A.02.10.00.64.60'
+cansend can0 '601#23.00.1A.00.02.00.00.00'
+cansend can0 '601#23.00.18.05.32.00.00.00'
+cansend can0 '601#23.00.16.01.10.00.7A.60'
+cansend can0 '601#23.00.16.00.01.00.00.00'
+cansend can0 '602#23.00.1A.01.10.00.41.60'
+cansend can0 '602#23.00.1A.02.10.00.64.60'
+cansend can0 '602#23.00.1A.00.02.00.00.00'
+cansend can0 '602#23.00.18.05.32.00.00.00'
+cansend can0 '602#23.00.16.01.10.00.7A.60'
+cansend can0 '602#23.00.16.00.01.00.00.00'
+cansend can0 '000#01.00'

diff --git a/demo/canopen_2j_arm/run_model.sh b/demo/canopen_2j_arm/run_model.sh
new file mode 100755 (executable)
index 0000000..b3b26b2
--- /dev/null
+++ b/demo/canopen_2j_arm/run_model.sh
@@ -0,0 +1,11 @@
+#!/bin/sh
+
+if [ -n "$2" ] ; then
+
+  xterm -e "scp -i target-ssh-key ./$1 root@$2:/tmp ; echo model $1 copied to target is run ; ssh  -i target-ssh-key root@$2 /tmp/$1 -tf inf -w ; sleep 2" &
+
+else
+
+  xterm -e "./$1 -tf inf -w ; sleep 2" &
+
+fi