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ptu46 [Drivers] The ptu46 driver provides control of the PTU-46-17.5 pan-tilt unit from directed perceptions through its text interface (This unit is standard on the RWI b21r robot). This driver will probably work with other directed perceptions pan tilt units, please let me know if you have tested it. The ptu46 driver supports both position and velocity control, via the PLAYER_PTZ_CONTROL_MODE_REQ request. Compile-time dependencies none Provides ptz Requires none Configuration requests PLAYER_PTZ_CONTROL_MODE_REQ Configuration file options port (string) Default: "/dev/ttyS0" The serial port to which the unit is attached. Authors Toby Collett