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BeagleBone Robotic Projects by Richard Grimmett

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Creating a general control structure so capabilities can communicate

Now that you have a mobile robot, you want to coordinate all of its different abilities. Let's start with the simplest approach: using a single control program that can call other programs and enable all the capabilities.

Prepare for lift off

You've already done this once. In Chapter 3, Providing Speech Input and Output, you edited the continuous.c code to allow it to call other programs to execute functionality. Here is the code that we used, found in the /home/ubuntu/pocketsphinx-0.8/programs/src/ directory.

Prepare for lift off

The functionality that is important to us is the system("espeak \"good ...

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