AioToSonar

Array of analog sonar sensors connected to an aio device. More...

Array of analog sonar sensors connected to an aio device.

The AioToSonar driver offers the sonar interface for a group of analogue sonar sensors. It accesses the sensors through an analogue IO interface. (For example, you could connect several Phidets sonar sensors to a Phidgets Interface Kit.)

Compile-time dependencies

• none

Provides

• sonar

Requires

• aio
  • Offers the voltage values of the sensors.

Configuration requests

• PLAYER_SONAR_REQ_GET_GEOM
• PLAYER_SONAR_REQ_POWER
  • a NACK is replied only

Configuration file options

• sonarXX (Tuple)

      sonarXX [port x y z roll pitch yaw]

  • Default: None. You must specify all sensors here.
  • Configures each sonar sensor of the array numbered with XX (00-99). The numbering must be continuous.
  • port (int): The number of the input port in the aio interface, which this sensor is connected to.
  • x/y/z/roll/pitch/yaw (float): The pose of the sensor.
• samplingperiod (float)
  • Default: 0.02 s
  • Time (in seconds) between to consecutive message queue processings. Should be synchronised with the sampling period of the aio device (e.g. samplingperiod_sonar ~ samplingperiod_aio/2). Because this driver does not access any hardware, waking up is computationally lightweight.
• voltagetometers (float)
  • Default: 2.5918 m/V
  • distance = voltagetometers * voltage
  • Factor to convert the analogue input values (voltages) into distance values (meters). The default value fits for the Phidgets sonar sensor.

Example

driver
(
  name "AioToSonar"
  provides ["sonar:0"]
  requires ["aio:0"]

  # Sensor name, AIO Port and Pose (angles in degree) for each sensor
  # Name [port x y z roll pitch yaw]
  sonar00 [0  0.3  0.3  0.3  0.0  0.0  0.0]
  sonar01 [4 -0.3  0.3  0.3  180  0.0  0.0]
)

Author

Walter Bamberger