Virtual Labvolt notes: Your source code should have an #include for the "virtuallabvolt.h" file at the top (include a relative path if it is not in the current directory) Also include variables viewportwidth (to set the widow size) and numblocks (number of blocks to include, which can be zero) ************************************************** #include "virtuallabvolt.h" int viewportwidth = 700; // Change this value to change window size int numblocks = 5; // Change this value to change the number of blocks (can be zero) ************************************************** Do not include , use the built-in sleep command if needed The blocks are centered at location XYZ = (23, 23, 0) (units are cm) Each block is 2 cm high Keys while running (while focus is on the viewport) - must be lower case Motion control: g - Go (Run without stopping) n - Run to next "moverel()" point s - Step to next increment (joints move a little) p - Pause without changing mode ( also works) q - Quit program Note that pressing S repeatedly fast can step you through quickly Camera control: r - Camera right l - Camera left u - Camera up d - Camera down i - Camera in o - Camera out Notes: When the robot exceeds joint limits or the gripper goes below the table, a message will appear. For the real robot, this causes the robot to "miss steps" and further motion will be other than calculated. Note that the virtual joint limits are guesses at this point. When this virtual labvolt starts up it is in a position where moverel(0, -910, 0, 0, 0); Will put it in the position where the Thetas are 0 90 90 0 0 From this information you should be able to figure out what the initial values are for "stepsfromhome" i.e., the steps required to get it to the initial position from angles of 0 0 0 0 0 Note that this starting position is slightly different from what is presented in the information on labvolt motion given with Lab 1.