A SHORT SUMMARY FROM THE MANUAL
-------------------------------

Extract the simulator from the tar file by typing
at the Unix command line
	Unix> gunzip -c simderella.2.0.1.tar.gz | tar xf -
or use your favourite extracting commands.  Sub-directories 
connel/, simmel/, bemmel/, communication/, matrix/, include/,
socketnr/, and doc/ are created in the root simderella/ directory.

		Compilation
		-----------
If your compiler is not called gcc but something else,
you must change the include/imake.cf in the simderella
directory, at least.  Change the line
	CC = gcc
to define your compiler.

In the simderella/ directory, type
	 xmkmf
	 make Makefiles
	 make depend
	 make clean
         make
The sub-directories are recursively visited and executables
are compiled and linked. 

The simulator comprises three separate processes which communicate via
Unix sockets.  Execution  requires three X-window terminals (possibly on
different machines).  In one window change to the simmel/ subdirectory
and type:
          source env
          simmel1 ns
This is the robot simulator process.  The env command line script
initialises environment variables which indicate on which machine the
controller and bemmel are running; by default, they are initialised
to the local machine.  If they run on other machines, the user has to
adapt the env script or explicitly set the variables herself.
The command line arguments  to simmel are explained in the manual.

In the second window, change to the connel/ subdirectory and type: 
           connel s
to run the robot arm controller process.  A demonstration controller
which calculates a simple inverse kinematic function for a robot arm
is included as a frame on which users may build more complex
controllers.

Finally, to visualise what is going on, in the third window, change to the 
bemmel/ subdirectory and type
            Zoscar
Zoscar is a command line script which executes
bemmel with a standard set of flags and parameters.
An X-window containing a 3D wire frame model of
the robot should pop up.  Viewing commands for this graphical
interface are explained in the manual.

Connel has a command-line user interface.  You
can type commands to make the robot move, the target
go to a different position, and print robot status.
Type `?' to get a menu of commands; `describe' to
describe a specific command.  It's flashier
to move the mouse pointer to the bemmel window
and press a key, e.g., the `l'.


Sometimes, a socket number is blocked because of
a previous call which was not correctly closed.
In that case, execute the shell-script
            next-socket
to allocate a new set of socket numbers.



	     ad Makefile.std
	===========================
For those who don't like imake, the original makefiles are
provided (Makefile.std).  IN order to use these: do the following:
	1. if your compiler isn't called gcc, you need to
	   change ALL makefiles;
	2. if you compile on Solaris, check the makefiles to see
	   which changes you need to make.
	3. in config.h, you should:
		for SUNOS: do nothing;
		for SOLARIS, LINUX:
			#define SYSV 1
			#define SVR4 1
		for HP700:
			#define SYSV 1
			#define SVR4 1
			#define EWOULDBLOCK 248
		for SGI:
			#define SYSV 1
		for DEC Alpha:
			#define DEC 1
