Collaboration diagram for bumpersafe:
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
- 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
driver ( name "bumpersafe" provides ["position:0"] requires ["position:1" "bumper:0"] )