The software is written in c++ using Gtk+ and gnome as the gui interface. The sofm is derived from sofm with a few modification. The main modification is rewiring the software to be object oriented as well as the addition of displaying the map in a graphical format.  The vision processing is implemented using Intel OpenCV libraries with the addition of CMVision to get the coordinates of a color blob.

The software if available from here. It will need Gnome/Gtk+ libraries and GtkPlot to compile.

The IsoPod software is written in Forth and for now it just moves the servos to a given position.

SOFT_ARM_SOFTWARE ISOPOD ARM Software