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player-doc-3.0.2-5.fc14.noarch.rpm

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<h1>khepera<br/>
<small>
[<a class="el" href="group__drivers.html">Drivers</a>]</small>
</h1>  </div>
</div>
<div class="contents">

<p>K-Team <a class="el" href="classKhepera.html">Khepera</a> mobile robot.  
<a href="#_details">More...</a></p>
<table class="memberdecls">
</table>
<p>K-Team <a class="el" href="classKhepera.html">Khepera</a> mobile robot. </p>
<p>The khepera driver is used to interface to the K-Team khepera robot.</p>
<p>This driver is experimental and should be treated with caution. At this point it supports the <a class="el" href="group__interface__position2d.html">position2d</a> and <a class="el" href="group__interface__ir.html">ir</a> interfaces.</p>
<p>TODO:</p>
<ul>
<li>Add support for position control (currently only velocity control)</li>
<li>Add proper calibration for IR sensors</li>
</ul>
<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>
<ul>
<li><a class="el" href="group__interface__position2d.html">position2d</a></li>
<li><a class="el" href="group__interface__ir.html">ir</a></li>
</ul>
<dl class="user"><dt><b>Requires</b></dt><dd></dd></dl>
<ul>
<li>none</li>
</ul>
<dl class="user"><dt><b>Supported configuration requests</b></dt><dd></dd></dl>
<ul>
<li>The <a class="el" href="group__interface__position2d.html">position2d</a> interface supports:<ul>
<li>PLAYER_POSITION2D_REQ_GET_GEOM</li>
<li>PLAYER_POSITION2D_REQ_MOTOR_POWER</li>
<li>PLAYER_POSITION2D_REQ_VELOCITY_MODE</li>
<li>PLAYER_POSITION2D_REQ_RESET_ODOM</li>
<li>PLAYER_POSITION2D_REQ_SET_ODOM</li>
</ul>
</li>
<li>The <a class="el" href="group__interface__ir.html">ir</a> interface supports:<ul>
<li>PLAYER_IR_REQ_POSE</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/ttyUSB0"</li>
<li>Serial port used to communicate with the robot.</li>
</ul>
</li>
<li>scale_factor (float)<ul>
<li>Default: 10</li>
<li>As the khepera is so small the actual geometry doesnt make much sense with many of the existing defaults so the geometries can all be scaled by this factor.</li>
</ul>
</li>
<li>encoder_res (float)<ul>
<li>Default: 1.0/12.0</li>
<li>The wheel encoder resolution.</li>
</ul>
</li>
<li>position_pose (float tuple)<ul>
<li>Default: [0 0 0]</li>
<li>The pose of the robot in player coordinates (mm, mm, deg).</li>
</ul>
</li>
<li>position_size (float tuple)<ul>
<li>Default: [57 57]</li>
<li>The size of the robot approximated to a rectangle (mm, mm).</li>
</ul>
</li>
<li>ir_pose_count (integer)<ul>
<li>Default: 8</li>
<li>The number of ir poses.</li>
</ul>
</li>
<li>ir_poses (float tuple)<ul>
<li>Default: [10 24 90 19 17 45 25 6 0 25 -6 0 19 -17 -45 10 -24 -90 -24 -10 180 -24 10 180]</li>
<li>Poses of the IRs (mm mm deg for each one)</li>
</ul>
</li>
</ul>
<dl class="user"><dt><b>Example</b></dt><dd></dd></dl>
<div class="fragment"><pre class="fragment">
driver
(
  name "khepera"
  provides ["position2d:0" "ir:0"]
)
</pre></div><dl class="author"><dt><b>Author:</b></dt><dd>Toby Collett </dd></dl>
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Last updated 12 September 2005 21:38:45
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