7.7 er1_position

Authors

David Feil-Seifer dfseifer(at)cs.usc.edu

Synopsis

The er1 driver provides position control of the Evolution Robotics' ER1 and ERSDK robots.

Interfaces

Supported interfaces:

• position

Required devices:

• None.

Supported configuration requests:

• PLAYER_POSITION_GET_GEOM_REQ
• PLAYER_POSITION_MOTOR_POWER_REQ

Configuration file options

Name Type Default Meaning

port string "/dev/usb/ttyUSB1" The serial port to be used

axle float 0.38 The distance between the motorized wheels

motor_dir -1,1 1 Direction of the motors, if the left motor is plugged in to the motor 1 port on the RCM, put -1 here instead

debug 0,1 0 Put a 1 here if you want to see debug messages

Notes

• This driver is new and not thoroughly tested. The odometry cannot be trusted to give accurate readings.

• You will need a kernel driver to allow the serial port to be seen. This driver, and news about the player driver can be found at "http://www-robotics.usc.edu/ dfseifer/project-erplayer.php".

• TODO: split this driver similar to the way that p2os is split, one main body device, and sub-devices like position, and IR which inherit from this main class. Implement power interface.

• NOT DOING: I don't have a gripper, if someone has code for a gripper, by all means contribute it. It would be welcome to the mix.