Loki and Turtle Software Overview

This software overview applies directly to Loki and Turtle, but most of my robots use some variation of this design.  The code is written in C++, and compiled with Microsoft Visual Studio 2010.  Since Loki uses many different interfaces, there are probably some examples in this code that my help you get started with OpenCV Vision, Kinect, Laser Range finding, Arm Kinematics, Mapping and Navigation, and Speech recognition.

Here is the source code download page.

Here is a high level block diagram of the robot code:




12 Responses to Loki and Turtle Software Overview

  1. Mel Addison says:

    Hey, Dave! I tried to compile with MSStudioExpress2010. It did not make it passed the first step. It hung on it could not find the std files. I placed everthing in the directories that you suggested. But, this is not new for me. I took to arduino C like a duck to water. But, I have had a lot of trouble trying to use MSstudioExpress. Not your fault. It just could not find the files. I found them easily, but could not compile.

  2. dshinsel says:

    Yes, there are a number of dependencies. Did you read the file “Installing Loki on a new laptop”?

    Send me an email with the errors you see, and I’ll try to walk you through the problems
    Do you have Skype or Google IM? I can try to reach you there…

  3. Mel Addison says:

    I will read this Dave and let you know.



  4. Mel Addison says:

    I did read that stuff. I just don’t know what MSDN, MSDDK, or GPA is about or where to get them. I am using the Freebie MSstudio10Express.

    Is it possible to use a less complicated compiler?



  5. Mel Addison says:

    Could you send me a compiled version also?



  6. sohaib says:

    hi. really nice robot.i am working on a similar robot about an year now truly inspired from loki .can u plz send me a compiled version of software.really want to test the abilities.as i fell difficulty in compiling that.thanks in advance.

  7. muhsin says:

    hi sir. Will your source code works for arduino?

    • dshinsel says:

      Hi Muhsin,
      Your timing is good! I am in the process of converting my PIC processor over to an Arduino Mega 2560. I have the hardware done, and working on the software now. I should have this done in a week or so! I’ll post all the info on my website when I have the Arduio code completed. Note that the robot control code runs on the PC still, and uses the Arduio for sensor data and some control functions.

      • muhsin says:

        Sir, a big thanks for sharing the ccode for arduino!..and your projects so inspiring. Soon i will be there with my robot…:)

  8. zaycho.info says:

    Howdy, I think your web site might be having internet browser compatibility
    problems. Whenever I take a look at your site in Safari, it looks
    fine but when opening in IE, it’s got some overlapping issues. I merely wanted to provide you with a quick heads up! Apart from that, wonderful website!

    • dshinsel says:

      Thanks for the head’s up!
      I just tried it with IE9 (we are stuck on IE9 due to work), and it’s ok.
      One thing; you might need to wait a bit for the animation to kick in, which allows the pictures to “slide” exposing the full shot…? I use WordPress for my website.

  9. Laura Lemmons says:

    Where is the “Installing Loki on a new laptop” file at? I cannot find it. I would also like to know what kind of laptop he was using before the one he’s using now. Is he still using it?

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