OPEN-R Files &
Contents of this website are freeware and/or copyrighted material, and may not be sold
under any circumstances.
- Documentation and Sample Code
- OPEN-R on Windows
- OPEN-R on Linux
- Flash Update for -old- ERS-210's
- RCode Plugin for OPEN-R
- OPEN-R BBS Archive
OPEN-R is the very lowest available environment for AIBO
development. You won't get any closer to the wires.
It requires Unix or Linux, depends on the GCC compiler, and assumes
familiarity with C++ programming. You'll need to run a variant of
Linux, or install Cygwin onto a Windows PC.
OPEN-R runs on top of Sony's Aperios, a peculiar message oriented
cooperative multitasking operating system. Code gets placed
into objects, which communicate by sending messages to one
another. Generally, you'll receive a message, process it,
and immediately return. Failing to
return quickly can make AIBO unresponsive.
For example, OPEN-R can periodically send messages containing the
latest camera image capture. You'd process it,
perhaps looking for the ball, then return. Later OPEN-R
might send a message requesting a servo position update. You
could setup to move the head, if tracking the ball, before again
2. Documentation and Sample Code
Before going too far, download the documentation and samples to see if
OPEN-R is for you.
If just starting out with AIBO programming, I highly recommend first
out AiboPet's YART
3. OPEN-R on Windows
You must first install Cygwin, a Linux environment for Windows, then
the OPEN-R SDK. The compilers are precompiled, so its not
exceedingly painful. See these tutorials...
4. OPEN-R on Linux
For Linux you'll need to do a full build. The following
tutorial shows the steps...
Update for -old- ERS-210's
OPEN-R programs will not work on old ERS-210's. If you try,
the AIBO will freeze and even ignore the pause button. You'll
to eject the battery manually to shutdown (stick unwound paperclip into
hole near battery).
Download the updater (upgrade-OPEN-R-1.1.3-r2.zip)
See file README_E.txt within
the zipfile for instructions.
6. RCode Plugin
Sony made available a plugin for OPEN-R to build the R-Code compiler,
and allow extending it.
7. OPEN-R BBS
The original OPEN-R SDE BBS contains a variety of useful information on