amtecpowercube
[Drivers]

Collaboration diagram for amtecpowercube:

The amtecpowercube driver controls the Amtec PowerCube Wrist, a powerful pan-tilt unit that can, for example, carry a SICK laser (sicklms200).

This driver communicates with the PowerCube via RS232, and does NOT handle the newer CAN-based units. Please submit a patch to support the CAN protocol.

The amtecpowercube driver supports both position and velocity control, via the PLAYER_PTZ_REQ_CONTROL_MODE request. For constant swiveling, the PowerCube works better under velocity control.

Note that this driver is relatively new and not thoroughly tested.

Compile-time dependencies

none

Provides

Requires

none

Configuration requests

PLAYER_PTZ_REQ_CONTROL_MODE

Configuration file options

port (string)
- Default: "/dev/ttyS0"
- Serial port where the unit is attached.
home (integer)
- Default: 0
- Whether to home (i.e., reset to the zero position) the unit before commanding it
speed (angle)
- Default: 40 deg/sec
- Maximum pan/tilt speed

Example

driver
(
  name "amtecpowercube"
  port "/dev/ttyS0"
  home 1
)

Author:: Brian Gerkey

Last updated 12 September 2005 21:38:45

amtecpowercube [Drivers]

amtecpowercube
[Drivers]