erratic
[Drivers]

This driver talks to the embedded computer in the Erratic robot, which mediates communication to the devices of the robot.

Compile-time dependencies

none

Provides

The erratic driver provides the following device interfaces, some of them named:

"odometry" position2d
- This interface returns odometry data, and accepts velocity commands.

power
- Returns the current battery voltage (12 V when fully charged).

aio
- Returns data from analog and digital input pins

ir
- Returns ranges from IR sensors, assuming they're connected to the analog input pins

sonar
- Returns ranges from sonar sensors

ptz : control of the servos that pan and tilt

Supported configuration requests

"odometry" position2d :
- 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
ir :
- PLAYER_IR_POSE_REQ
sonar :
- PLAYER_SONAR_GET_GEOM_REQ

Configuration file options

port (string)
- Default: "/dev/ttyS0"
direct_wheel_vel_control (integer)
- Default: 0
- Send direct wheel velocity commands to Erratic (as opposed to sending translational and rotational velocities and letting Erratic smoothly achieve them).
max_trans_vel (length)
- Default: 0.5 m/s
- Maximum translational velocity
max_rot_vel (angle)
- Default: 100 deg/s
- Maximum rotational velocity
trans_acc (length)
- Default: 0
- Maximum translational acceleration, in length/sec/sec; nonnegative. Zero means use the robot's default value.
trans_decel (length)
- Default: trans_acc
- Maximum translational deceleration, in length/sec/sec; nonpositive. Zero means use the robot's default value.
rot_acc (angle)
- Default: 0
- Maximum rotational acceleration, in angle/sec/sec; nonnegative. Zero means use the robot's default value.
rot_decel (angle)
- Default: rot_acc
- Maximum rotational deceleration, in angle/sec/sec; nonpositive. Zero means use the robot's default value.
pid_trans_p (integer)
- Default: -1
- Translational PID setting; proportional gain. Negative means use the robot's default value.
pid_trans_d (integer)
- Default: -1
- Translational PID setting; derivative gain. Negative means use the robot's default value.
pid_rot_p (integer)
- Default: -1
- Rotational PID setting; proportional gain. Negative means use the robot's default value.
pid_rot_d (integer)
- Default: -1
- Rotational PID setting; derivative gain. Negative means use the robot's default value.
motor_pwm_frequency (integer)
- Default: -1
- Frequency of motor PWM. Bounds determined by robot. Negative means use the robot's default value.
motor_pwm_max_on (float)
- Default: 1
- Maximum motor duty cycle.
save_settings_in_robot (integer)
- Default: 0
- A value of 1 installs current settings as default values in the robot.

Example

driver
(
  name "erratic"
  plugin "erratic"

  provides [ "position2d:0"
             "power:0"
             "sonar:0"
             "aio:0"
             "ir:0"
             "ptz:0" 
             "ptz:1" ]

  port "/dev/erratic"

  max_trans_vel 3
  max_rot_vel 720

  trans_acc 1
  rot_acc 200

  direct_wheel_vel_control 0
)

Author:: Joakim Arfvidsson, Brian Gerkey, Kasper Stoy, James McKenna

Last updated 12 September 2005 21:38:45

erratic [Drivers]

erratic
[Drivers]