bumpersafe
[Drivers]

Collaboration diagram for bumpersafe:

This is a low level safety 'driver' that temporarily disables velocity commands if a bumper is pressed. It sits on top of bumper and position2d devices.

The general concept of this device is to not do much, but to provide a last line of defense in the case that higher level drivers or client software fails in its object avoidance.

Compile-time dependencies

none

Provides

position2d

Requires

position2d : the underlying robot to be controlled
bumper : the bumper to read from

Configuration requests

PLAYER_POSITION2D_REQ_MOTOR_POWER : if motor is switched on then we reset the 'safe state' so robot can move with a bump panel active
all other requests are just passed on to the underlying position2d device

Configuration file options

none

Example

driver
(
  name "bumpersafe"
  provides ["position:0"]
  requires ["position:1" "bumper:0"]
)

Author:: Toby Collett

Last updated 12 September 2005 21:38:45

bumpersafe [Drivers]

bumpersafe
[Drivers]