erratic
[Drivers]
Collaboration diagram for erratic:
|
- Compile-time dependencies
- none
- Provides
- "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_REQ_POSE
- sonar :
- PLAYER_SONAR_GET_GEOM_REQ
- Configuration file options
- port (string)
- Default: "/dev/ttyS0"
- direct_wheel_vel_control (integer)
- 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
)