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

• none

Requires

• position1d
  • Two, with "left" and "right" keys
  • Velocity commands (x, 0, ω) are transformed and delivered to these interfaces.
  • Position commands not supported.

Provides

• position2d
  • The differential steer interface obtained coupling the two position1d interfaces.

Configuration file options

• axis_length (float [length] default 25cm)
  • Distance between wheels at its pivot point.
• period (float [s] default 0.05)
  • Period used for integration of odometry, since we have unsyncronized sources for each wheel.

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