amtecpowercube

Amtec PowerCube pan-tilt unit. More...

Amtec PowerCube pan-tilt unit.

The amtecpowercube driver controls the Amtec PowerCube Wrist, a powerful pan-tilt unit that can, for example, carry a SICK laser (sicklms200).

This driver communicates with the PowerCube via RS232, and does NOT handle the newer CAN-based units. Please submit a patch to support the CAN protocol.

The amtecpowercube driver supports both position and velocity control, via the PLAYER_PTZ_REQ_CONTROL_MODE request. For constant swiveling, the PowerCube works better under velocity control.

Note that this driver is relatively new and not thoroughly tested.

Compile-time dependencies

• none

Provides

• ptz

Requires

• none

Configuration requests

• PLAYER_PTZ_REQ_CONTROL_MODE

Configuration file options

• port (string)
  • Default: "/dev/ttyS0"
  • Serial port where the unit is attached.
• home (integer)
  • Default: 0
  • Whether to home (i.e., reset to the zero position) the unit before commanding it
• speed (angle)
  • Default: 40 deg/sec
  • Maximum pan/tilt speed

Example

driver
(
  name "amtecpowercube"
  port "/dev/ttyS0"
  home 1
)

Author

Brian Gerkey