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# Weston Robot Platform SDK # Weston Robot Platform SDK
Copyright (c) 2019 [WestonRobot](https://www.westonrobot.com/) Copyright (c) 2020 [WestonRobot](https://www.westonrobot.com/)
## Introduction ## Introduction
**Supported platforms** Supported platforms
* Scout skid-steer mobile base * **Scout**: skid-steer mobile base
* Hunter ackerman mobile base * **Hunter**: ackermann mobile base
This software packages provides a C++ interface to communicate with the mobile platforms from the Weston Robot, for sending commands to the robot and acquiring the latest robot state. The SDK works on both x86 and ARM platforms. This software packages provides a C++ interface to communicate with the mobile platforms from Weston Robot, for sending commands to the robot and acquiring the latest robot state. The SDK works on both x86 and ARM platforms.
Generally, you only need to instantiate an object of the robot base class (such as ScoutBase), then use the object to programmatically control the robot. Internally, the base class manages two background threads, one to process CAN/UART messages of the robot state and accordingly update state variables in the robot state data structure, and the other to maintain a 50Hz loop and send the latest command to the robot base. User can iteratively perform tasks in the main thread and check the robot state or set control commands. Generally, you only need to instantiate an object of the robot base class (such as ScoutBase), then use the object to programmatically control the robot. Internally, the base class manages two background threads, one to process CAN/UART messages of the robot state and accordingly update state variables in the robot state data structure, and the other to maintain a 50Hz loop and send the latest command to the robot base. User can iteratively perform tasks in the main thread and check the robot state or set control commands.
Refer to "src/apps" for examples. Refer to "src/apps" for examples.
## Setup CAN-To-USB adapter ## Hardware Interface
### Setup CAN-To-USB adapter
1. Enable gs_usb kernel module 1. Enable gs_usb kernel module
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