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amtecpowercube [Drivers] The amtecpowercube driver controls the Amtec PowerCube Wrist, a powerful pan-tilt unit that can, for example, carry a SICK laser (sicklms200). The amtecpowercube driver supports both position and velocity control, via the PLAYER_PTZ_CONTROL_MODE_REQ request. For constant swiveling, the PowerCube works better under velocity control. Note that this driver is relatively new and not thoroughly tested. Compile-time dependencies none Provides ptz Requires none Configuration requests PLAYER_PTZ_CONTROL_MODE_REQ Configuration file options port (string) Default: "/dev/ttyS0" Serial port where the unit is attached. home (integer) Default: 0 Whether to home (i.e., reset to the zero position) the unit before commanding it speed (angle) Default: 40 deg/sec Maximum pan/tilt speed Example driver ( name "amtecpowercube" port "/dev/ttyS0" home 1 ) Authors Brian Gerkey