roboteq
[Drivers]

Collaboration diagram for roboteq:

Provides position2d interface to the Roboteq AX2550 motor controller http://www.roboteq.com/ax2550-folder.html This driver ignores all configuration requests and produces no data although the hardware device supports a number of configurations and data over the serial link. It simply accepts 2 types of commmands translation and rotation, then converts these to the syntax used by the Roboteq. This driver uses the configuration file options max_rot_spd and max_trans_spd to scale commands sent to the controller. These values can be determined by testing with RC -- or closed loop could be implemented by integrating dead-reckoning devices.

Compile-time dependencies

none

Provides

position2d

Requires

None

Configuration requests

none

Configuration file options

devicepath (string)
- Default: none
- The serial port to be used.

baud (integer)
- Default: 9600
- The baud rate to be used.

max_rot_spd (float)
- Default: none
- maximum rotational speed (in rad/sec) that would be achieved by vehicle if full power where applied to that channel.

max_trans_spd (float)
- Default: none
- maximum translational speed (in meters/sec) that would be achieved by vehicle if full power where applied to that channel.

Example

driver
(
  name "roboteq"
  provides ["position2d:0"] 
  devicepath "/dev/ttyS0"
  max_trans_spd 6.0
  max_rot_spd 4.0
)

Author:: Pablo Rivera rivera@cse.unr.edu

Last updated 12 September 2005 21:38:45

roboteq [Drivers]

roboteq
[Drivers]