Goto

A robot controller that drives a robot to a given target. More...

A robot controller that drives a robot to a given target.

Provides

• position2d
• dio

Requires

• position2d

Configuration requests

• None

Configuration file options

• dist_tol (float)
  • Default: DEFAULT_DIST_TOL
  • Distance to the target tollerance
• angle_tol (float)
  • Default: DEFAULT_ANGLE_TOL
  • Angle difference tollerance
• max_dist (float)
  • Default: 0.5
  • Maximum distance between checkpoints
• debug (integer)
  • Default: 0
  • Debug
• reactive (integer)
  • Default: 0
  • Shall we react for stall states? 0 - no, 1 - yes (see 'reaction_turn_vel', 'reaction_time'), 2 - yes, with random parameters
• reaction_turn_vel (float)
  • Default: 0.0 (rad/sec)
  • When 'reactive' is set to 1, this driver causes a robot to go back on stall state for a while ('reaction_time') turning it with 'reaction_turn_vel' angular velocity
• reaction_time (float)
  • Default: 1.5 (seconds)
  • When 'reactive' is set to 1, this driver causes a robot to go back on stall state for a while ('reaction_time') turning it with 'reaction_turn_vel' angular velocity
• forward_enabled (integer)
  • Default: 0
  • Shall we forward position2d velocity commands?
• early_check (integer)
  • Default: 1
  • If set to 1, do not wait for newer position data to check if at target
• send_everything (integer)
  • Default: 1
  • If set to 1, data and commands are sent at once
• max_vel
  • Default: 0.7
  • Maximum speed forward
• min_vel
  • Default: 0.1
  • Minimum speed forward
• max_angular_vel
  • Default: 45.0
  • Maximum rotation speed
• min_angular_vel
  • Default: 10.0
  • Minimum rotation speed

Example

driver
(
  name "goto"
  provides ["position2d:100" "dio:0"]
  requires ["position2d:0"]
  debug 1
  reactive 1
)

Author

Paul Osmialowski