The Command Server listens for packets on a UDP socket and sends messages via the RCXTTY port (either USB or serial, depending on how you've set up your LEGO tower) to the robots.

1. Download the eleague Command Server software from here: http://www4.cs.umanitoba.ca/~jacky/RoboCup-ULeague/Software/command-server.tgz

    

2. Unpack it in your download directory, compile and make it...

    

3. Set the RCXTTY environment variable to point to the port where the communication tower is plugged in:

   	bash# export RCXTTY=/dev/usb/lego0
   

   if you are using the USB tower, or

   	bash# export RCXTTY=/dev/ttyS0
   

   if you're using serial port 1

    

4. Go to the directory where you've installed the command server and run:

   	bash# command_server --port 6364 --robot blue1=0 --robot blue2=1
   

   Notes:
   * You will have to substitute 6364 for whatever port you are using.
   * You will have to include the name and number for each robot you want to talk to, to establish the mapping from names (string format) to id numbers (0..7) which are used in the 8-byte command message (one byte per robot). In this example, there are two robots. In a full game, there will be eight (blue1..blue4 and yellow1..yellow4, with id's 0..7).

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