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position2d [Interfaces] Detailed Description The position2d interface is used to control a planar mobile robot base. This interface is the same as the position interface, but uses different units (e.g., mrad instead of deg). The position2d interface will probably replace the position interface (eventually). Classes struct   player_position2d_data   Data. More... struct   player_position2d_cmd   Command. More... struct   player_position2d_geom   Configuration request: Query geometry. More... struct   player_position2d_power_config   Configuration request : Motor power. More... struct   player_position2d_velocitymode_config   Configuration request: Change velocity control. More... struct   player_position2d_resetodom_config   Configuration request: Reset odometry. More... struct   player_position2d_position_mode_req   Configuration request: Change position control. More... struct   player_position2d_set_odom_req   Configuration request: Set odometry. More... struct   player_position2d_speed_pid_req   Configuration request: Set velocity PID parameters. More... struct   player_position2d_position_pid_req   Configuration request: Set position PID parameters. More... struct   player_position2d_speed_prof_req   Configuration request: Set speed profile parameters. More... Defines #define  PLAYER_POSITION2D_GET_GEOM_REQ   ((uint8_t)1) #define  PLAYER_POSITION2D_MOTOR_POWER_REQ   ((uint8_t)2) #define  PLAYER_POSITION2D_VELOCITY_MODE_REQ   ((uint8_t)3) #define  PLAYER_POSITION2D_RESET_ODOM_REQ   ((uint8_t)4) #define  PLAYER_POSITION2D_POSITION_MODE_REQ   ((uint8_t)5) #define  PLAYER_POSITION2D_SPEED_PID_REQ   ((uint8_t)6) #define  PLAYER_POSITION2D_POSITION_PID_REQ   ((uint8_t)7) #define  PLAYER_POSITION2D_SPEED_PROF_REQ   ((uint8_t)8) #define  PLAYER_POSITION2D_SET_ODOM_REQ   ((uint8_t)9) #define  PLAYER_POSITION2D_RMP_VELOCITY_SCALE   ((uint8_t)51) #define  PLAYER_POSITION2D_RMP_ACCEL_SCALE   ((uint8_t)52) #define  PLAYER_POSITION2D_RMP_TURN_SCALE   ((uint8_t)53) #define  PLAYER_POSITION2D_RMP_GAIN_SCHEDULE   ((uint8_t)54) #define  PLAYER_POSITION2D_RMP_CURRENT_LIMIT   ((uint8_t)55) #define  PLAYER_POSITION2D_RMP_RST_INTEGRATORS   ((uint8_t)56) #define  PLAYER_POSITION2D_RMP_SHUTDOWN   ((uint8_t)57) #define  PLAYER_POSITION2D_RMP_RST_INT_RIGHT   0x01 #define  PLAYER_POSITION2D_RMP_RST_INT_LEFT   0x02 #define  PLAYER_POSITION2D_RMP_RST_INT_YAW   0x04 #define  PLAYER_POSITION2D_RMP_RST_INT_FOREAFT   0x08 Typedefs typedef player_position2d_data  player_position2d_data_t   Data. typedef player_position2d_cmd  player_position2d_cmd_t   Command. typedef player_position2d_geom  player_position2d_geom_t   Configuration request: Query geometry. typedef player_position2d_power_config  player_position2d_power_config_t   Configuration request : Motor power. typedef player_position2d_velocitymode_config  player_position2d_velocitymode_config_t   Configuration request: Change velocity control. typedef player_position2d_resetodom_config  player_position2d_resetodom_config_t   Configuration request: Reset odometry. typedef player_position2d_position_mode_req  player_position2d_position_mode_req_t   Configuration request: Change position control. typedef player_position2d_set_odom_req  player_position2d_set_odom_req_t   Configuration request: Set odometry. typedef player_position2d_speed_pid_req  player_position2d_speed_pid_req_t   Configuration request: Set velocity PID parameters. typedef player_position2d_position_pid_req  player_position2d_position_pid_req_t   Configuration request: Set position PID parameters. typedef player_position2d_speed_prof_req  player_position2d_speed_prof_req_t   Configuration request: Set speed profile parameters. Define Documentation #define PLAYER_POSITION2D_GET_GEOM_REQ   ((uint8_t)1) #define PLAYER_POSITION2D_MOTOR_POWER_REQ   ((uint8_t)2) #define PLAYER_POSITION2D_VELOCITY_MODE_REQ   ((uint8_t)3) #define PLAYER_POSITION2D_RESET_ODOM_REQ   ((uint8_t)4) #define PLAYER_POSITION2D_POSITION_MODE_REQ   ((uint8_t)5) #define PLAYER_POSITION2D_SPEED_PID_REQ   ((uint8_t)6) #define PLAYER_POSITION2D_POSITION_PID_REQ   ((uint8_t)7) #define PLAYER_POSITION2D_SPEED_PROF_REQ   ((uint8_t)8) #define PLAYER_POSITION2D_SET_ODOM_REQ   ((uint8_t)9) #define PLAYER_POSITION2D_RMP_VELOCITY_SCALE   ((uint8_t)51) #define PLAYER_POSITION2D_RMP_ACCEL_SCALE   ((uint8_t)52) #define PLAYER_POSITION2D_RMP_TURN_SCALE   ((uint8_t)53) #define PLAYER_POSITION2D_RMP_GAIN_SCHEDULE   ((uint8_t)54) #define PLAYER_POSITION2D_RMP_CURRENT_LIMIT   ((uint8_t)55) #define PLAYER_POSITION2D_RMP_RST_INTEGRATORS   ((uint8_t)56) #define PLAYER_POSITION2D_RMP_SHUTDOWN   ((uint8_t)57) #define PLAYER_POSITION2D_RMP_RST_INT_RIGHT   0x01 #define PLAYER_POSITION2D_RMP_RST_INT_LEFT   0x02 #define PLAYER_POSITION2D_RMP_RST_INT_YAW   0x04 #define PLAYER_POSITION2D_RMP_RST_INT_FOREAFT   0x08 Typedef Documentation typedef struct player_position2d_data player_position2d_data_t   Data. The position2d interface returns data regarding the odometric pose and velocity of the robot, as well as motor stall information typedef struct player_position2d_cmd player_position2d_cmd_t   Command. The position2d interface accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control, or both). typedef struct player_position2d_geom player_position2d_geom_t   Configuration request: Query geometry. To request robot geometry, set the subtype to PLAYER_POSITION2D_GET_GEOM_REQ and leave the other fields empty. The server will reply with the pose and size fields filled in. typedef struct player_position2d_power_config player_position2d_power_config_t   Configuration request : Motor power. On some robots, the motor power can be turned on and off from software. To do so, send a request with the format given below, and with the appropriate state (zero for motors off and non-zero for motors on). The server will reply with a zero-length acknowledgement. Be VERY careful with this command! You are very likely to start the robot running across the room at high speed with the battery charger still attached. typedef struct player_position2d_velocitymode_config player_position2d_velocitymode_config_t   Configuration request: Change velocity control. Some robots offer different velocity control modes. It can be changed by sending a request with the format given below, including the appropriate mode. No matter which mode is used, the external client interface to the position2d device remains the same. The server will reply with a zero-length acknowledgement. The p2os driver offers two modes of velocity control: separate translational and rotational control and direct wheel control. When in the separate mode, the robot's microcontroller internally computes left and right wheel velocities based on the currently commanded translational and rotational velocities and then attenuates these values to match a nice predefined acceleration profile. When in the direct mode, the microcontroller simply passes on the current left and right wheel velocities. Essentially, the separate mode offers smoother but slower (lower acceleration) control, and the direct mode offers faster but jerkier (higher acceleration) control. Player's default is to use the direct mode. Set mode to zero for direct control and non-zero for separate control. For the reb driver, 0 is direct velocity control, 1 is for velocity-based heading PD controller. typedef struct player_position2d_resetodom_config player_position2d_resetodom_config_t   Configuration request: Reset odometry. To reset the robot's odometry to , use the following request. The server will reply with a zero-length acknowledgement. typedef struct player_position2d_position_mode_req player_position2d_position_mode_req_t   Configuration request: Change position control. typedef struct player_position2d_set_odom_req player_position2d_set_odom_req_t   Configuration request: Set odometry. To set the robot's odometry to a particular state, use this request. typedef struct player_position2d_speed_pid_req player_position2d_speed_pid_req_t   Configuration request: Set velocity PID parameters. typedef struct player_position2d_position_pid_req player_position2d_position_pid_req_t   Configuration request: Set position PID parameters. typedef struct player_position2d_speed_prof_req player_position2d_speed_prof_req_t   Configuration request: Set speed profile parameters.