mbasedriver

Copyright (C) 2010 Ana Teresa Hernández Malagón <anat.hernandezm@gmail.com> Movirobotics <athernandez@movirobotics.com> Copyright (C) 2006 Videre Design Copyright (C) 2000 Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard. More...

Copyright (C) 2010 Ana Teresa Hernández Malagón <anat.hernandezm@gmail.com> Movirobotics <athernandez@movirobotics.com> Copyright (C) 2006 Videre Design Copyright (C) 2000 Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard.

Videre mbasedriver robot driver for Player

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA This driver is adapted from the p2os driver of player 1.6. Movirobotic's mBase robot driver for Player 3.0.1 based on erratic driver developed by Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard. Developed by Ana Teresa Herández Malagón. mbasedriver

This driver talks to the embedded computer in the mBase robot, which mediates communication to the devices of the robot.

Compile-time dependencies

• none

Provides

The mbasedriver driver provides the following device interfaces, some of them named:

• "odometry" position2d
  • This interface returns odometry data, and accepts velocity commands.

• power
  • Returns the current battery voltage (12 V when fully charged).

• aio
  • Returns data from analog and digital input pins

• ir
  • Returns ranges from IR sensors, assuming they're connected to the analog input pins

• sonar
  • Returns ranges from sonar sensors

Supported configuration requests

• "odometry" position2d :
  • PLAYER_POSITION_SET_ODOM_REQ
  • PLAYER_POSITION_MOTOR_POWER_REQ
  • PLAYER_POSITION_RESET_ODOM_REQ
  • PLAYER_POSITION_GET_GEOM_REQ
  • PLAYER_POSITION_VELOCITY_MODE_REQ
• ir :
  • PLAYER_IR_REQ_POSE
• sonar :
  • PLAYER_SONAR_GET_GEOM_REQ

Configuration file options

• port (string)
  • Default: "/dev/ttyS0"
• tipoMBase (integer)
  • Default: 5
  • Sets the type of mBase robot to use. It can be 5 for MR5 robot or 7 for MR7 robot.
• max_trans_vel (length)
  • Default: 1.5 m/s
  • Maximum translational velocity
• max_rot_vel (angle)
  • Default: 90 deg/s
  • Maximum rotational velocity
• trans_acel (length)
  • Default: 500 mm/s/s
  • Maximum: 1500 mm/s/s
  • Maximum translational acceleration, in length/sec/sec; nonnegative. Zero or negative means use the robot's default value.
• rot_acel (angle)
  • Default: 100 deg/s/s
  • Maximum rotational acceleration, in angle/sec/sec; nonnegative. Zero or negative means use the robot's default value. [this driver don't use that parameter]
• pid_p (integer)
  • Default: 10
  • PID setting; proportional gain. Negative means use the robot's default value.
• pid_i (integer)
  • Default: 10
  • PID setting; integral gain. Negative means use the robot's default value.
• pid_d (integer)
  • Default: 600
  • PID setting; derivative gain. Negative means use the robot's default value.
• driffactor (integer)
  • Default: 0
  • It straightens the robot's translation forward and backward.
• robotWidth (integer)
  • Default: 410 mm. for mBase and 495 for MR7.
  • Wheelbase. Negative means use the robot's default value.
• robotWheel (integer)
  • Default: 200 mm. for mBase and 310 for MR7.
  • Side wheel diameter. Negative means use the robot's default value.
• debug (integer)
  • Default: 0
  • A value different than zero shows debugging messages.
• ir_analog (integer)
  • Default: 0
  • Zero makes the IR parameter works with digital values using a 1.83 threshold. A different value of zero makes the IR parameter works with the values in volts.

Example

driver
(
  name "mbasedriver"

  provides [ "position2d:0"
             "power:0"
             "sonar:0"
             "aio:0"
             "ir:0" ]

  port "/dev/ttyS0"
)

Author:

Joakim Arfvidsson, Brian Gerkey, Kasper Stoy, James McKenna, Ana Teresa Hernández Malagón