Sophie

Sophie

distrib > Fedora > 14 > x86_64 > media > updates > by-pkgid > 727fa15453fcace956b835e2377d4269 > files > 636

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

<!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;
    left:-2.1em;
    margin-bottom:0px;
    margin-top:0px;
}

li.menu { 
    list-style-type: none;
    position:relative;
    #left:-0.5em;
}


#sidebar { position: absolute; left:0px; padding:2em; top:0em; width:12em;}

#content { position: absolute; left:12em; top:0em; padding-left:3em; padding-right:3em; padding-bottom:2em; margin-top:1em; margin-right:2em; }

div.box { background-color:#EEE; border: 1px solid #000; padding: 0.5ex 0.4em 0.5ex 0.6em; margin:1em;  }
div.title { font-weight:bold; background-color:#eee; margin-bottom:2px;}

div.topbar { position: absolute; top:0px; left:9em; margin:1em; }

</style>

<TITLE>Player Manual</TITLE>

</HEAD>

<body>

<div id="sidebar"> 

<h2 style="text-align:center;">
<a href="index.html">
<img width=140 src="http://playerstage.sourceforge.net/images/player_button_v3.png" alt="Player logo"><br></a>
</h2>



<div class="box">
<div class=title>Player</div>

<ul class=menu>
<li class=menu><a href="index.html">Frontpage</a>
<li class=menu><a href="modules.html">Contents</a>
</ul>
</div>

<div class="box">
<div class=title>User</div>

<ul class=menu>
<li class=menu><a href="install.html">Installation</a>
<li class=menu><a href="start.html">Quick start</a>
<li class=menu><a href="supported_hardware.html">Supported&nbsp;devices</a>
<li class=menu><a href="group__tutorials.html">Tutorials</a>
<li class=menu><a href="group__utils.html">Utilities</a>
<li class=menu><a href="group__clientlibs.html">Client&nbsp;libraries</a>
<li class=menu><a href="http://playerstage.sourceforge.net/wiki/Basic_FAQ">FAQ</a>
<li class=menu><a href="help.html">Help</a>

</ul>
</div>

<div class=box>
<div class="title">Developer</div>
<ul class=menu>
<li class=menu><a href="architecture.html">Architecture</a>
<li class=menu><a href="group__libplayercore.html">libplayercore</a>
<ul class=menu1>
<li class=menu><a href="group__interfaces.html">interfaces</a></li>
</ul>
<li class=menu><a href="group__libplayerdrivers.html">libplayerdrivers</a>
<ul class=menu1>
<li class=menu><a href="group__drivers.html">drivers</a></li>
</ul>
<li class=menu><a href="group__libplayercommon.html">libplayercommon</a>
<li class=menu><a href="group__libplayerutils.html">libplayerutils</a>
<li class=menu><a href="group__libplayersd.html">libplayersd</a>
<li class=menu><a href="group__libplayertcp.html">libplayertcp</a>
<li class=menu><a href="group__libplayerxdr.html">libplayerxdr</a>
<li class=menu><a href="todo.html">TODO</a>
</ul>
</div>

<div class=box>
<!-- <a href="http://sourceforge.net"><img border=0 src="http://sourceforge.net/sflogo.php?group_id=42445&type=1"></a> -->
<div class="title">Online</div>
<a href="http://playerstage.sourceforge.net">Homepage</a><br>
<a href="http://sourceforge.net/project/showfiles.php?group_id=42445">Download</a><br>
<a href="http://sourceforge.net/projects/playerstage">Project</a><br>
<a href="http://sourceforge.net/tracker/?group_id=42445">Bugs</a><br>
<a href="http://sourceforge.net/mail/?group_id=42445">Help</a>
</div>


</div>

<div id="content" >
<!-- Generated by Doxygen 1.7.1 -->
<div class="header">
  <div class="headertitle">
<h1>reb<br/>
<small>
[<a class="el" href="group__drivers.html">Drivers</a>]</small>
</h1>  </div>
</div>
<div class="contents">

<p>K-Team Kameleon Robotics Extension Board.  
<a href="#_details">More...</a></p>
<table class="memberdecls">
</table>
<p>K-Team Kameleon Robotics Extension Board. </p>
<dl class="todo"><dt><b><a class="el" href="todo.html#_todo000030">Todo:</a></b></dt><dd>This driver is currently disabled because it needs to be updated to the Player 2.0 API.</dd></dl>
<p>The reb driver is used to control robots using the K-Team Kameleon 376SBC with Robotics Extension Board (<a class="el" href="classREB.html">REB</a>). The Kameleon, (or Kam), has a Motorola MC68376 microcontroller that can perform velocity and position control and odometry for up to four motors, using the <a class="el" href="classREB.html">REB</a>. It can also access a number of A/D inputs, which we have connected to Sharp GP2D12 IR proximity detectors.</p>
<p>In its default setting, a host computer can communicate with the Kam using the K-Team SerCom program, which uses a simple protocol to send commands and read data back. At UMass, we found that the default SerCom did not offer enough performance, so we developed our own, LPRSerCom, which uses the same protocol, but with some enhancements, such as letting the Kam do the odometry updates and IR synchronization. The bottom line is that you need to modifiy these drivers to work with the K-Team SerCom, which is not very difficult (mainly removing the LPRSerCom specific code). We can also send you a copy of LPRSerCom if you'd like. Email John Sweeney (sweeney (at) cs.umass.edu) for information.</p>
<p>The reb driver sets some default PID parameters and resets the odometry to (0,0,0) when the first client subscribes to the <a class="el" href="group__interface__position2d.html">position2d</a> interface. Likewise, the IR sensors are only turned on when an <a class="el" href="group__interface__ir.html">ir</a> client has subscribed.</p>
<p>Position mode is very finicky. This seems to be a problem with the <a class="el" href="classREB.html">REB</a> itself, which may lose bytes on the serial port while performing position mode actions. This causes the driver to time out, and quite possibly lose a connection to the <a class="el" href="classREB.html">REB</a>.</p>
<p>The LPRSerCom protocol running on the <a class="el" href="classREB.html">REB</a> will sometimes lose a byte over the port, which can cause the driver to time out on a read call to the port. The driver will attempt to retry the call, but there is no guarantee that the <a class="el" href="classREB.html">REB</a> will be able to handle it. The best solution is to reset the <a class="el" href="classREB.html">REB</a>. Hopefully this should be a relatively rare occurrence.</p>
<p>As mentioned above, for this driver to function properly, the <a class="el" href="classREB.html">REB</a> needs to be running the LPRSerCom program.</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 reb driver provides the following device interfaces:</p>
<ul>
<li><a class="el" href="group__interface__position2d.html">position2d</a> : This interface returns odometry data, and accepts velocity commands.</li>
</ul>
<ul>
<li><a class="el" href="group__interface__ir.html">ir</a> : This interface returns IR range data.</li>
</ul>
<ul>
<li><a class="el" href="group__interface__power.html">power</a> : This interface returns power data.</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_POSITION_MODE</li>
<li>PLAYER_POSITION2D_REQ_SET_ODOM</li>
<li>PLAYER_POSITION2D_REQ_SPEED_PID</li>
<li>PLAYER_POSITION2D_REQ_POSITION_PID</li>
<li>PLAYER_POSITION2D_REQ_SPEED_PROF</li>
</ul>
</li>
<li>The <a class="el" href="group__interface__ir.html">ir</a> interface supports:<ul>
<li>PLAYER_IR_REQ_POWER</li>
<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/ttySA1"</li>
<li>Serial port used to communicate with the robot.</li>
</ul>
</li>
<li>subclass (string)<ul>
<li>Default: "slow"</li>
<li>The type of robot; should be "slow" or "fast"</li>
</ul>
</li>
</ul>
<dl class="user"><dt><b>Example</b></dt><dd></dd></dl>
<div class="fragment"><pre class="fragment">
driver
(
  name "reb"
  provides ["position2d:0" "ir:0" "power:0"]
)
</pre></div><dl class="author"><dt><b>Author:</b></dt><dd>John Sweeney </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>

Perl :: Catalyst :: PostgreSQL :: RPM Valid HTML 4.01 Transitional