amtecpowercubeThe amtecpowercube driver controls the Amtec PowerCube Wrist, a powerful pan-tilt unit that can, for example, carry a SICK laser (sicklms200).
This driver communicates with the PowerCube via RS232, and does NOT handle the newer CAN-based units. Please submit a patch to support the CAN protocol.
The amtecpowercube driver supports both position and velocity control, via the PLAYER_PTZ_CONTROL_MODE_REQ request. For constant swiveling, the PowerCube works better under velocity control.
Note that this driver is relatively new and not thoroughly tested.
- Compile-time dependencies
- Configuration requests
- Configuration file options
- port (string)
- Default: "/dev/ttyS0"
- Serial port where the unit is attached.
- home (integer)
- Default: 0
- Whether to home (i.e., reset to the zero position) the unit before commanding it
- speed (angle)
- Default: 40 deg/sec
- Maximum pan/tilt speed
driver ( name "amtecpowercube" port "/dev/ttyS0" home 1 )
- Brian Gerkey