garcia

Mixed mode driver for Garcia robot by Acroname. More...

Mixed mode driver for Garcia robot by Acroname.

Author:

Brad Kratochvil

Date:

20050915

The Garcia mobile robot

Todo:

This driver is currently disabled because it needs to be updated to the Player 2.0 API.

The garcia driver captures

Compile-time dependencies

• <acpGarcia.h>

Provides

• position2d
• ir
• speech
• dio
• power
• ptz (not yet implemented)
• position1d (not yet implemented)

Requires

• none

Configuration requests

• position2d
  • PLAYER_POSITION2D_REQ_GET_GEOM
  • PLAYER_POSITION2D_REQ_SET_ODOM :
  • PLAYER_POSITION2D_REQ_RESET_ODOM :
  • PLAYER_POSITION2D_REQ_MOTOR_POWER :
  • PLAYER_POSITION2D_REQ_SPEED_PID :
  • PLAYER_POSITION2D_REQ_POSITION_PID :
  • PLAYER_POSITION2D_REQ_SPEED_PROF :
  • PLAYER_IR_REQ_POSE :

Configuration file options

• port (filename)
  • Default: "ttyS0"
  • Path to the serial port
• baud (int)
  • Default: 38400
  • Baudrate of the serial port
• speed (float)
  • Default: 0.7f
  • The speed for speaking the phrase. Values have a range of 0.0 to 1.0 and will be clamped to this range. 0.0 is the slowest and 1.0 is the fastest speed for saying the phrase.
• pitch (float)
  • Default: 0.6f
  • The pitch for speaking the phrase. Values have a range of 0.0 to 1.0 and will be clamped to this range. 0.0 is the lowest and 1.0 is the highest pitch for saying the phrase.
• volume (float)
  • Default: 1.0f
  • The volume for speaking the phrase. Values have a range of 0.0 to 1.0 and will be clamped to this range. 0.0 is the quietest and 1.0 is the loudest volume for saying the phrase.

Example

driver
(
  name "garcia"
  provides ["position2d:0"
            "ir:0"
            "dio:0"
            "speech:0"]
  port "ttyS0"
  baud "38400"
)

Author:

Brad Kratochvil