differential

Differential steering (also skid-steering) More...

Differential steering (also skid-steering)

This driver takes two position1d sources and considers them the two motors of a differential steer machine, providing in turn a position2d for control of such machine.

Compile-time dependencies
Requires
Provides
Configuration file options
Example

# Example with the differential LEGO driver with two actuators.
# Standard configured brick with B and C motors in use.

unit_length "m"
unit_angle  "radians"

# The NXT driver
driver
(
  name "differential"
  provides [ "B:::position1d:0" "C:::position1d:1" ]
)

# The differential driver that provides simplified position2d management
driver
(
  name "differential"
  requires [ "left:::position1d:0" "right:::position1d:1" ]
  provides [ "position2d:0" ]

  axis_length 0.25
)

Author:
Alejandro R. Mosteo