Murray at 17:06, 22 August 2008

2008-08-22T17:06:58Z

← Older revision		Revision as of 17:06, 22 August 2008
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	=== Source Code ===		=== Source Code ===
	The source code for Sparrow and the other packages is available on [http://~~sourceforget~~.net/sparrow-control SourceForge].		The source code for Sparrow and the other packages is available on [http://sourceforge.net/projects/sparrow-control/ SourceForge].

	=== History ===		=== History ===

Murray at 17:50, 9 August 2008

2008-08-09T17:50:03Z

New page

Sparrow is a C library for implementing real-time control systems under Linux. It was written to be a very simple set of functions that can be run with very modest hardware requirements. Sparrow is designed to work with a collection of control libraries written at Caltech:
* [[Sparrow]] - real-time display, servo library and channel library (low-level interface)
* [[Falcon]] - library for implementing standard control laws (state space, PID, Kalman filters, etc)
* [[Skynet]] - a messaging library for use in networked control systems (built on top of Spread)
* [[NTG]] - nonlinear trajectory generation library, including receding horizon control

=== Source Code ===
The source code for Sparrow and the other packages is available on [http://sourceforget.net/sparrow-control SourceForge].

=== History ===
The sparrow library was originally written in the late 1980s to
implement real-time controllers under MSDOS. Its earlier versions
consisted of three primary components: a real-time servo library, a
device driver interface and a simple dynamic display driver. Because
MSDOS had no facilities for pre-emptive multi-tasking, the original
version of sparrow used low-level interrupt service routes to
implement servo loops. Since a PC at the time ran on a 66 MHz clock,
sparrow was designed to be extremely efficient in the way that it
implemented its functions.

Once Windows came along, development of sparrow came to a slow halt.
Version 2.1g of sparrow, which was the most commonly used release, was
released in 1995, although some development activities continued
through 1999 as part of the rarely used 3.1 and 3.2 releases. Sparrow
was revied in late 2003 as part of Caltech DARPA Grand Challenge
project - we needed a simple way to display the status of real-time
controllers under Linux and the sparrow display package was a good
fit.

The Linux version of sparrow was developed from the DGC version of
Sparrow and released as open source code.

Sparrow - Revision history

Murray at 17:06, 22 August 2008

Murray at 17:50, 9 August 2008