wbr914
[Drivers]

Collaboration diagram for wbr914:

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

none

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_POSITION2D_REQ_SET_ODOM
- PLAYER_POSITION2D_REQ_MOTOR_POWER
- PLAYER_POSITION2D_REQ_RESET_ODOM
- PLAYER_POSITION2D_REQ_GET_GEOM

ir :
- PLAYER_IR_REQ_POSE

Supported commands

position2d :
- PLAYER_POSITION2D_CMD_VEL

dio :
- PLAYER_DIO_CMD_VALUES

Configuration file options

port (string)
- Default: "/dev/ttyUSB0"

Example

driver
(
  name "wbr914"
  provides [ "position2d:0" "ir:0" "aio:0" "dio:0" ]
  port "/dev/ttyUSB0"
)

Author:: Ian Gough, White Box Robotics

Last updated 12 September 2005 21:38:45

wbr914 [Drivers]

wbr914
[Drivers]