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p2os [Drivers] Many robots made by ActivMedia, such as the Pioneer series and the AmigoBot, are controlled by a microcontroller that runs a special embedded operating system called P2OS (aka AROS, PSOS). The host computer talks to the P2OS microcontroller over a standard RS232 serial line. This driver offer access to the various P2OS-mediated devices, logically splitting up the devices' functionality. Compile-time dependencies none Provides The p2os driver provides the following device interfaces, some of them named: "odometry" position This interface returns odometry data, and accepts velocity commands. "compass" position This interface returns compass data (if equipped). "gyro" position This interface returns gyroscope data (if equipped). power Returns the current battery voltage (12 V when fully charged). sonar Returns data from sonar arrays (if equipped) aio Returns data from analog I/O ports (if equipped) dio Returns data from digital I/O ports (if equipped) gripper Controls gripper (if equipped) bumper Returns data from bumper array (if equipped) blobfinder Controls a CMUCam2 connected to the AUX port on the P2OS board (if equipped). sound Controls the sound system of the AmigoBot, which can play back recorded wav files. Supported configuration requests "odometry" position: 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 sonar: PLAYER_SONAR_POWER_REQ PLAYER_SONAR_GET_GEOM_REQ blobfinder PLAYER_BLOBFINDER_SET_COLOR_REQ PLAYER_BLOBFINDER_SET_IMAGER_PARAMS_REQ Configuration file options port (string) Default: "/dev/ttyS0" Serial port used to communicate with the robot. radio (integer) Default: 0 Nonzero if a radio modem is being used; zero for a direct serial link. bumpstall (integer) Default: -1 Determine whether a bumper-equipped robot stalls when its bumpers are pressed. Allowed values are: -1 : Don't change anything; the bumper-stall behavior will be determined by the BumpStall value stored in the robot's FLASH. 0 : Don't stall. 1 : Stall on front bumper contact. 2 : Stall on rear bumper contact. 3 : Stall on either bumper contact. joystick (integer) Default: 0 Use direct joystick control direct_wheel_vel_control (integer) Default: 1 Send direct wheel velocity commands to P2OS (as opposed to sending translational and rotational velocities and letting P2OS smoothly achieve them). max_xspeed (length) Default: 0.5 m/s Maximum translational velocity max_yawspeed (angle) Default: 100 deg/s Maximum rotational velocity max_xaccel (length) Default: 0 Maximum translational acceleration, in length/sec/sec; nonnegative. Zero means use the robot's default value. max_xdecel (length) Default: 0 Maximum translational deceleration, in length/sec/sec; nonpositive. Zero means use the robot's default value. max_yawaccel (angle) Default: 0 Maximum rotational acceleration, in angle/sec/sec; nonnegative. Zero means use the robot's default value. max_yawdecel (angle) Default: 0 Maximum rotational deceleration, in angle/sec/sec; nonpositive. Zero means use the robot's default value. use_vel_band (integer) Default: 0 Use velocity bands Example driver ( name "p2os" provides ["odometry::position:0" "compass::position:1" "sonar:0" "power:0"] ) Authors Brian Gerkey, Kasper Stoy, James McKenna