The White Box Robotics Model 914 computer communicates with the M3 I/O and motor control board over a serial-to-USB driver. The serial commands are used to communicate with two PMD motion control chips that drive the stepper motors and control the onboard I/O.
- Compile-time dependencies
- Provides
The wbr914 driver provides the following device interfaces, some of them named:
- position2d
- This interface returns position data, and accepts velocity commands.
- PLAYER_POSITION2D_CMD_VEL
- ir
- This interface returns the IR range data.
- aio
- This interface returns the analog input data from the optional 2nd I/O board.
- dio
- This interface returns the digital input information and allows control of the digital outputs on all installed White Box Robotics I/O boards. The first I/O board supplies 8 digital inputs and outputs and the optional second I/O board supplies an additional 8 digital inputs and outputs.
- Supported configuration requests
- position2d :
- PLAYER_POSITION_SET_ODOM_REQ
- PLAYER_POSITION_MOTOR_POWER_REQ
- PLAYER_POSITION_RESET_ODOM_REQ
- PLAYER_POSITION_GET_GEOM_REQ
- Supported commands
- Configuration file options
- Example
driver
(
name "wbr914"
provides [ "position2d:0" "ir:0" "aio:0" "dio:0" ]
port "/dev/ttyUSB0"
)
- Author:
- Ian Gough, White Box Robotics
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Last updated 12 September 2005 21:38:45
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