erratic

Erratic platform driver. More...

Erratic platform driver.

This driver talks to the embedded computer in the Erratic robot, which mediates communication to the devices of the robot.

Compile-time dependencies

• none

Provides

The erratic driver provides the following device interfaces, some of them named:

• "odometry" position2d
  • This interface returns odometry data, and accepts velocity commands.
• power
  • Returns the current battery voltage (12 V when fully charged).
• aio
  • Returns data from analog and digital input pins
• ir
  • Returns ranges from IR sensors, assuming they're connected to the analog input pins
• sonar
  • Returns ranges from sonar sensors
• ptz : control of the servos that pan and tilt

Supported configuration requests

• "odometry" position2d :
  • PLAYER_POSITION_SET_ODOM_REQ
  • PLAYER_POSITION_MOTOR_POWER_REQ
  • PLAYER_POSITION_RESET_ODOM_REQ
  • PLAYER_POSITION_GET_GEOM_REQ
  • PLAYER_POSITION_VELOCITY_MODE_REQ
• ir :
  • PLAYER_IR_REQ_POSE
• sonar :
  • PLAYER_SONAR_GET_GEOM_REQ

Configuration file options

• port (string)
  • Default: "/dev/ttyS0"
• direct_wheel_vel_control (integer)
  • Default: 0
  • Send direct wheel velocity commands to Erratic (as opposed to sending translational and rotational velocities and letting Erratic smoothly achieve them).
• max_trans_vel (length)
  • Default: 0.5 m/s
  • Maximum translational velocity
• max_rot_vel (angle)
  • Default: 100 deg/s
  • Maximum rotational velocity
• trans_acc (length)
  • Default: 0
  • Maximum translational acceleration, in length/sec/sec; nonnegative. Zero means use the robot's default value.
• trans_decel (length)
  • Default: trans_acc
  • Maximum translational deceleration, in length/sec/sec; nonpositive. Zero means use the robot's default value.
• rot_acc (angle)
  • Default: 0
  • Maximum rotational acceleration, in angle/sec/sec; nonnegative. Zero means use the robot's default value.
• rot_decel (angle)
  • Default: rot_acc
  • Maximum rotational deceleration, in angle/sec/sec; nonpositive. Zero means use the robot's default value.
• pid_trans_p (integer)
  • Default: -1
  • Translational PID setting; proportional gain. Negative means use the robot's default value.
• pid_trans_d (integer)
  • Default: -1
  • Translational PID setting; derivative gain. Negative means use the robot's default value.
• pid_rot_p (integer)
  • Default: -1
  • Rotational PID setting; proportional gain. Negative means use the robot's default value.
• pid_rot_d (integer)
  • Default: -1
  • Rotational PID setting; derivative gain. Negative means use the robot's default value.
• motor_pwm_frequency (integer)
  • Default: -1
  • Frequency of motor PWM. Bounds determined by robot. Negative means use the robot's default value.
• motor_pwm_max_on (float)
  • Default: 1
  • Maximum motor duty cycle.
• save_settings_in_robot (integer)
  • Default: 0
  • A value of 1 installs current settings as default values in the robot.

Example

driver
(
  name "erratic"
  plugin "erratic"

  provides [ "position2d:0"
             "power:0"
             "sonar:0"
             "aio:0"
             "ir:0"
             "ptz:0"
             "ptz:1" ]

  port "/dev/erratic"

  max_trans_vel 3
  max_rot_vel 720

  trans_acc 1
  rot_acc 200

  direct_wheel_vel_control 0
)

Author

Joakim Arfvidsson, Brian Gerkey, Kasper Stoy, James McKenna