Tweaks.

www/robotmap.php3

@@ -240,9 +240,11 @@ echo "<form method=\"post\" action=\"robotmap.php3\">\n";
 echo "Click on the image to get its X,Y coordinates<br>\n";
 # The image may be clicked to get node info or set a new center-point.
 if ($isadmin || TBWebCamAllowed($uid)) {
-    echo "  <a href=webcam.php3>Webcam View</a> (Updated every five seconds)";
+    echo "  <a href=webcam.php3>Webcam View</a> (Updated in real time)";
     echo "  <br>\n";
 }
+echo "  <a href=robotrack/robotrack.php3>Track robots in real time</a>";
+echo "  <br>\n";
 
 if (isset($map_x) && isset($map_y)) {
 #    $map_y = $max_y - $map_y;

www/robotrack/robotrack.php3

@@ -30,6 +30,33 @@ if (mysql_num_rows($query_result)) {
     $ppm = $row["pixels_per_meter"];
 }
 
+#
+# Draw the legend and some explanatory text.
+#
+echo "<table cellspacing=5 cellpadding=5 border=0 class=\"stealth\">
+      <tr>
+       <td align=\"left\" valign=\"top\" class=\"stealth\">
+         <table>
+           <tr><th colspan=2>Legend</th></tr>
+           <tr>
+             <td><img src=\"../floormap/map_legend_node.gif\"></td>
+             <td nowrap=1>Robot Actual Position</td>
+           </tr>
+           <tr>
+             <td><img src=\"../floormap/map_legend_node_dst.gif\"></td>
+             <td nowrap=1>Robot Destination Position</td>
+           </tr>
+         </table>
+       </td>
+       <td class=stealth>This applet allows you to view the robots
+                         as they move around. The table at the bottom
+                         shows the current position (x, y, orientation),
+                         the destination position (dx, dy, dorientation),
+                         and the battery level (percentage and voltage).
+        </td>
+      </tr>
+      </table><hr>\n";
+
 #
 # Create a tempfile to use as a unique prefix; it is not actually used but
 # serves the same purpose (The script uses ${prefix}.jpg and ${prefix}.map .)