RoboDevelRhexLib is a programing environment that abstracts the functions of any given robot to allow for universal control of most any robotic machine. Still in the developement stage, RHexLibis currently being more thouroughly developed to better incorporate a robot unspecific control code.
RHexLib is an object oriented system. It consists of the use of two abstarct classes,modes and modules. Modules are classes that issue commands to the robot hardware. Modes are classes that link the userinterface to the modules, allowing for either autonomus or manual control of the robot.
The following links explain the certain portions of the RHexLib system
Presentation: Using the new RoboDevel
Guide to using and installing RoboDevel