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<p>Added categories</p> <p><b>New page</b></p><div>One way to control the robot is via the [[CRI Ethernet Interface]]. A custom application connects to the robot control via TCP/IP to receive information and send commands. Currently we can only provide the C# demo client as an example. Creating a basic CRI client in any language should be simple with some programming knowledge.<br /> <br /> This article gives hints on how to create such a client. Please refer to the [[CRI Ethernet Interface|CRI documentation]] for more details.<br /> <br /> = Requirements =<br /> * Programming knowledge in the desired language, including TCP/IP or sockets programming<br /> * A computer (or embedded computer) that is connected to the robot via Ethernet and can run your program<br /> * Read the CRI documentation!<br /> <br /> = Basic structure =<br /> * Create a program that connects to the robot control via TCP/IP. There should be many examples for this on the internet.<br /> **Standard IP address: 192.168.3.11 for the embedded control or 127.0.0.1 for connecting to CPRog/iRC on the same computer<br /> **Standard port: 3920<br /> * The program must send the ALIVEJOG message at least once a second, otherwise the connection will be closed.<br /> &lt;code&gt;CRISTART 1234 ALIVEJOG 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 CRIEND&lt;/code&gt;<br /> * Now you should be able to receive and send CRI messages.<br /> <br /> = Issues and Debugging =<br /> Try the following if commands do not work as intended:<br /> * Check for error response messages. Not all commands send these but they can give useful hints to the issues<br /> * Check the [[Log Files|log files of the robot control]]. Most CRI issues get logged there.<br /> * Check the syntax with the CRI documentation.<br /> * Try sending the command with our [https://github.com/CommonplaceRobotics/CRI-DemoClient CRI test client]. This can show if there are general issues with your implementation.<br /> <br /> [[Category:CPRog]][[Category:TinyCtrl]]</div>

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