The M68HC11 gripper controller software

This thesis discusses the development of firmware for the 68HC11 gripper controller. A general description of the software and hardware interfaces is given. The C library interface for the gripper is then described and followed by a detailed discussion of the software architecture of the firmware. A procedure to assemble and download 68HC11 programs is presented in the form of a tutorial. The tools used to implement this environment are then described. Finally, the implementation of the configuration management scheme used to manage all CIRSSE software is presented.