amtecM5

Amtec PowerCube modules. More...

Amtec PowerCube modules.

A driver for the Powercube Modules from Amtec Robotics, Berlin. This driver uses the official C++ driver from Amtec (Called Powercube M5api). You can download it from here after obtaining a password from the company: http://www.powercube.de/files/PCube_M5api_Linux/M5DLL_SUSE_10.0.tar

For precise timing, use a recent Linux kernel (2.6.19 should have the hrtimers code inside)

Compile-time dependencies

• Amtec Powercube M5api

Provides

• actarray

Requires

• none

Configuration requests

• PLAYER_ACTARRAY_REQ_POWER
• PLAYER_ACTARRAY_REQ_GEOM
• PLAYER_ACTARRAY_REQ_SPEED
• PLAYER_ACTARRAY_REQ_ACCEL
• PLAYER_ACTARRAY_REQ_BRAKES

Configuration file options

• highpriority (int)
  • Default: 0
  • Tell the scheduler we need high priority
• connstring (string)
  • Default: ""
  • Connection string used by Pcube driver from Amtec
• samplingrate (float)
  • Default: 20
  • Sampling rate, in milliseconds
• alarmtime (float)
  • Default: 25
  • Alarm time, in milliseconds
• module_count (int)
  • Default: 0
  • Number of modules that we expect on the bus
• debug_level (int)
  • Default: 0
  • Display extra debug messages
• initial_ramp_speed (float)
  • Default: 0.1
  • Initial speed
• initial_ramp_accel (float)
  • Default: 0.1
  • Initial acceleration
• directions (string)
  • Default: ""
  • Vector for the directions of the modules

Example

driver
(
  name "amtecM5"
  connstring "/dev/ttyS0"
  highpriority 0
)

Author

Alexis Maldonado

Date

2006