<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd"> <html> <!-- $Id: header.html 8799 2010-06-28 04:12:42Z jpgr87 $ --> <HEAD> <meta HTTP-EQUIV="Content-Type" CONTENT="text/html;CHARSET=utf-8"> <meta name="keywords" content="stage, robot, simulation, player, player/stage"> <link href="doxygen.css" rel="stylesheet" type="text/css"> <style type="text/css"> .floatright { float: right; margin: 0 0 1em 1em; } body { font-family: sans-serif; #font-family: Geneva, Verdana, Helvetica, Arial, sans-serif; background-color: #FFF; color:#000; } a:link { color: #A00; } a:visited { color: #800; } a { text-decoration: none; } a:hover { text-decoration: underline; } .timestamp { text-align:right; background-color: #DDD; font-size:75%;} h1 { font-size:160%; } h2 { font-size:110%; #color: #FFF; #background-color: #666; #padding:3px; } h3 { text-align:left; } img { border: 0; } ul.menu { position:relative; left:-2.5em; margin-bottom:0px; margin-top:0px; } ul.menu1 { position:relative; 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you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.</p> <p>This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.</p> <p>You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA This driver is adapted from the p2os driver of player 1.6. ErraticThis driver talks to the embedded computer in the <a class="el" href="classErratic.html">Erratic</a> robot, which mediates communication to the devices of the robot.</p> <dl class="user"><dt><b>Compile-time dependencies</b></dt><dd></dd></dl> <ul> <li>none</li> </ul> <dl class="user"><dt><b>Provides</b></dt><dd></dd></dl> <p>The erratic driver provides the following device interfaces, some of them named:</p> <ul> <li>"odometry" <a class="el" href="group__interface__position2d.html">position2d</a><ul> <li>This interface returns odometry data, and accepts velocity commands.</li> </ul> </li> </ul> <ul> <li><a class="el" href="group__interface__power.html">power</a><ul> <li>Returns the current battery voltage (12 V when fully charged).</li> </ul> </li> </ul> <ul> <li><a class="el" href="group__interface__aio.html">aio</a><ul> <li>Returns data from analog and digital input pins</li> </ul> </li> </ul> <ul> <li><a class="el" href="group__interface__ir.html">ir</a><ul> <li>Returns ranges from IR sensors, assuming they're connected to the analog input pins</li> </ul> </li> </ul> <ul> <li><a class="el" href="group__interface__sonar.html">sonar</a><ul> <li>Returns ranges from sonar sensors</li> </ul> </li> </ul> <ul> <li><a class="el" href="group__interface__ptz.html">ptz</a> : control of the servos that pan and tilt</li> </ul> <dl class="user"><dt><b>Supported configuration requests</b></dt><dd></dd></dl> <ul> <li>"odometry" <a class="el" href="group__interface__position2d.html">position2d</a> :<ul> <li>PLAYER_POSITION_SET_ODOM_REQ</li> <li>PLAYER_POSITION_MOTOR_POWER_REQ</li> <li>PLAYER_POSITION_RESET_ODOM_REQ</li> <li>PLAYER_POSITION_GET_GEOM_REQ</li> <li>PLAYER_POSITION_VELOCITY_MODE_REQ</li> </ul> </li> <li><a class="el" href="group__interface__ir.html">ir</a> :<ul> <li>PLAYER_IR_REQ_POSE</li> </ul> </li> <li><a class="el" href="group__interface__sonar.html">sonar</a> :<ul> <li>PLAYER_SONAR_GET_GEOM_REQ</li> </ul> </li> </ul> <dl class="user"><dt><b>Configuration file options</b></dt><dd></dd></dl> <ul> <li>port (string)<ul> <li>Default: "/dev/ttyS0"</li> </ul> </li> <li>direct_wheel_vel_control (integer)<ul> <li>Default: 0</li> <li>Send direct wheel velocity commands to <a class="el" href="classErratic.html">Erratic</a> (as opposed to sending translational and rotational velocities and letting <a class="el" href="classErratic.html">Erratic</a> smoothly achieve them).</li> </ul> </li> <li>max_trans_vel (length)<ul> <li>Default: 0.5 m/s</li> <li>Maximum translational velocity</li> </ul> </li> <li>max_rot_vel (angle)<ul> <li>Default: 100 deg/s</li> <li>Maximum rotational velocity</li> </ul> </li> <li>trans_acc (length)<ul> <li>Default: 0</li> <li>Maximum translational acceleration, in length/sec/sec; nonnegative. Zero means use the robot's default value.</li> </ul> </li> <li>trans_decel (length)<ul> <li>Default: trans_acc</li> <li>Maximum translational deceleration, in length/sec/sec; nonpositive. Zero means use the robot's default value.</li> </ul> </li> <li>rot_acc (angle)<ul> <li>Default: 0</li> <li>Maximum rotational acceleration, in angle/sec/sec; nonnegative. Zero means use the robot's default value.</li> </ul> </li> <li>rot_decel (angle)<ul> <li>Default: rot_acc</li> <li>Maximum rotational deceleration, in angle/sec/sec; nonpositive. Zero means use the robot's default value.</li> </ul> </li> <li>pid_trans_p (integer)<ul> <li>Default: -1</li> <li>Translational PID setting; proportional gain. Negative means use the robot's default value.</li> </ul> </li> <li>pid_trans_d (integer)<ul> <li>Default: -1</li> <li>Translational PID setting; derivative gain. Negative means use the robot's default value.</li> </ul> </li> <li>pid_rot_p (integer)<ul> <li>Default: -1</li> <li>Rotational PID setting; proportional gain. Negative means use the robot's default value.</li> </ul> </li> <li>pid_rot_d (integer)<ul> <li>Default: -1</li> <li>Rotational PID setting; derivative gain. Negative means use the robot's default value.</li> </ul> </li> <li>motor_pwm_frequency (integer)<ul> <li>Default: -1</li> <li>Frequency of motor PWM. Bounds determined by robot. Negative means use the robot's default value.</li> </ul> </li> <li>motor_pwm_max_on (float)<ul> <li>Default: 1</li> <li>Maximum motor duty cycle.</li> </ul> </li> <li>save_settings_in_robot (integer)<ul> <li>Default: 0</li> <li>A value of 1 installs current settings as default values in the robot.</li> </ul> </li> </ul> <dl class="user"><dt><b>Example</b></dt><dd></dd></dl> <div class="fragment"><pre class="fragment"> driver ( name "erratic" plugin "erratic" provides [ "position2d:0" "power:0" "sonar:0" "aio:0" "ir:0" "ptz:0" "ptz:1" ] port "/dev/erratic" max_trans_vel 3 max_rot_vel 720 trans_acc 1 rot_acc 200 direct_wheel_vel_control 0 ) </pre></div><dl class="author"><dt><b>Author:</b></dt><dd>Joakim Arfvidsson, Brian Gerkey, Kasper Stoy, James McKenna </dd></dl> </div> <!-- render the modification time of the source file --> <div class="timestamp"> <hr> <table style="width:100%;"> <tr> <td style="text-align:left;"> Last updated 12 September 2005 21:38:45 <!-- <td style="text-align:right;"> <a href="http://validator.w3.org/check/referer"><img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://www.w3.org/Icons/valid-html401" alt="Valid HTML 4.01!"></a> <a href="http://jigsaw.w3.org/css-validator/"> <img style="vertical-align:middle;border:0;width:88px;height:31px" src="http://jigsaw.w3.org/css-validator/images/vcss" alt="Valid CSS!"> </a> --> </tr> </table> </div> </tr> </table> </BODY> </HTML>