bumpersafe
[Drivers]
This is a low level safety 'driver' that temporarily disables velocity commands if a bumper is pressed. It sits on top of bumper and position2d devices.The general concept of this device is to not do much, but to provide a last line of defense in the case that higher level drivers or client software fails in its object avoidance.
- Compile-time dependencies
- none
- Provides
- Requires
- position2d : the underlying robot to be controlled
- bumper : the bumper to read from
- Configuration requests
- PLAYER_POSITION_MOTOR_POWER_REQ : if motor is switched on then we reset the 'safe state' so robot can move with a bump panel active
- all other requests are just passed on to the underlying position2d device
- Configuration file options
- none
- Example
driver ( name "bumpersafe" provides ["position:0"] requires ["position:1" "bumper:0"] )
- Author:
- Toby Collett