player_position2d_velocitymode_config Struct Reference
List of all members.
Configuration request: Change velocity control.
Some robots offer different velocity control modes. It can be changed by sending a request with the format given below, including the appropriate mode. No matter which mode is used, the external client interface to the
position2d device remains the same. The server will reply with a zero-length acknowledgement.
The p2os driver offers two modes of velocity control: separate translational and rotational control and direct wheel control. When in the separate mode, the robot's microcontroller internally computes left and right wheel velocities based on the currently commanded translational and rotational velocities and then attenuates these values to match a nice predefined acceleration profile. When in the direct mode, the microcontroller simply passes on the current left and right wheel velocities. Essentially, the separate mode offers smoother but slower (lower acceleration) control, and the direct mode offers faster but jerkier (higher acceleration) control. Player's default is to use the direct mode. Set mode to zero for direct control and non-zero for separate control.
For the reb driver, 0 is direct velocity control, 1 is for velocity-based heading PD controller.
Member Data Documentation
subtype; must be PLAYER_POSITION2D_VELOCITY_MODE_REQ
The documentation for this struct was generated from the following file:
Generated on Tue May 3 14:15:59 2005 for Player by 1.3.6