gestures/README

This is a set of robot control programs.  They vary in complexity, but
all are generally useful in programming the robot.  They are:


	parameter_reset		This resets the robot parameters; it
				should not be necessary to zero memory,
				but if you end up needing to, this puts
				everything back to where it should be.

	goto_origin		Move the robot finger to its origin
				position.  This tends to be useful.

	point_picker		Pick a point; this provides a graphical
				representation of the X, Y, and Z location
				of the finger.  'o' returns to origin, 'q'
				quits, '1', '2', '3', and '4' provide
				smaller motion resolution, cursor left and
				right pick an axis, and cursor up moves
				along that axis toward the origin, while
				cursor down moves away.  I typically hit
				return after the robot is fully done moving,
				which updates the current coordinate display.

				This is almost the only reasonable way to
				get a registration for the touch area
				bounding box with any degree of accuracy,
				since we don't have a teaching pendant.

	flick_with_liftoff	This is the primary initial point programming
				module; it implements the following gestures:

					Flick with liftoff
					Variable speed flick
					Variable sped 2 finger scroll

				The default as it's currently programmed is
				to move into position to perform a gesture,
				drop the Z to touch the touch surface, and
				then make a downward motion.

				There are three configuration parameters at
				the top of the script to control whether a
				flick or scroll is done, which device
				bounding region to configure, and velocity
				of the gesture.

It's expected that additional gesture scripts will become available in the
future.

End Of Document.