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This page describes the planning of Myro3, an API for communicating with real and simulated robots. This is part of the Pyjama Project.


The Myro3 interface will be written in C#. This will allow any of the .NET/Mono Languages (Python, Ruby, Scheme, JavaScript, F#, J#, etc) to use the API.

Initially, connections to robots (real and simulated) will be made through the Microsoft Robotics Developer Studio (MSRDS) API [2]. This is made through a set of services defined for each robot, sensor, actuator, etc.

In addition, an alternative interface could be defined that allows direct connections to a robot, or through another API, such as Player/Stage. This may require a layer above the services, or a different set of objects. This interface could allow for models to be created in C# (or another .NET language).

Getting Started

One can program either in Visual Studio (only available on Windows) or in Mono (available on most Platforms). Mono has a development environment (called MonoDevelop), but you can also use any editor.


Download and install Mono version 1.9.1 or greater. You can then create a program, like this:

using System;                        // for Console
public class HelloWorld {
   public static void Main(string[] args) {
      Console.WriteLine("Hello World!");

Call that program hello.cs, and compile with:

gmcs hello.cs

You can run it with:

mono hello.exe

Libraries for Pyjama

If you create a Dynamically Linked Library (.DLL) then you can load the library in Python (or any language) and use it as if it were written in Python.

For example:

gmcs -target:library hello.cs

will create hello.dll which can be used in Python.


  1. Myro3 - Robotics Connection
  2. Myro3 Robot Services
  3. Pyro Robot Interfaces
    1. Pyro Source Code