\chapter{Electronic Resources}\label{appendixA}


The source code for the project is provided in the enclosed CD. A brief description of the files included is given below:\\

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\noindent
\textbf{UT2004}: 
\begin{itemize}
\item \textit{\textbf{USARBot.ini}}, the configuration file in the \textit{System} folder, has been modified to incorporate sonar and infra-red sensors in the wheelchair. 
\item \textbf{\textit{IRSensor.uc}} in the \textit{Classes} folder under the \textit{USARBot} folder has been modified by changing the maximum and minimum ranges of the IRSensor.\\
\end{itemize}

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\noindent
\textbf{Wheelchair Application}:\\
\noindent
The following files have been modified:
\begin{itemize}
\item \textit{\textbf{resource.h}} and \textbf{\textit{Wheelchair.rc}} files have been modified to include a new check box labelled \textquoteleft{Shared Control}'
\item \textbf{\textit{WheelchairDlg.cpp}} and \textbf{\textit{WheelchairDlg.h}} have been changed to allow the shared control check box to be activated.
\item \textbf{\textit{Wheelchair.cpp}} and \textbf{\textit{Wheelchair.h}} have been modified to create a shared control object and pass sensor data to it.
\item \textbf{\textit{StateControl.cpp}} and \textbf{\textit{StateControl.h}} have been changed to allow collision avoidance in the function, \textit{TransFun}, prior to changing the state of the wheelchair. A new function has been added, \textit{SharedTransFun}, to customise the state control for shared control behaviour. The function \textit{ModifyControl} has been added to limit the speed of the wheelchair in shared control mode.\\
\end{itemize}
\noindent
The following files have been added:\\
\noindent
\textbf{\textit{SharedControl.cpp}} and \textbf{\textit{SharedControl.h}} contain the implementation of the class \textit{SharedControl}, which handles the shared control strategies for obstacle avoidance, collision avoidance and wall following.
