mbasedriver

mbase platform driver More...

mbase platform driver

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

Compile-time dependencies

• none

Provides

The mbasedriver 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

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"
• tipoMBase (integer)
  • Default: 5
  • Sets the type of mBase robot to use. It can be 5 for MR5 robot or 7 for MR7 robot.
• max_trans_vel (length)
  • Default: 1.5 m/s
  • Maximum translational velocity
• max_rot_vel (angle)
  • Default: 90 deg/s
  • Maximum rotational velocity
• trans_acel (length)
  • Default: 500 mm/s/s
  • Maximum: 1500 mm/s/s
  • Maximum translational acceleration, in length/sec/sec; nonnegative. Zero or negative means use the robot's default value.
• rot_acel (angle)
  • Default: 100 deg/s/s
  • Maximum rotational acceleration, in angle/sec/sec; nonnegative. Zero or negative means use the robot's default value. [this driver don't use that parameter]
• pid_p (integer)
  • Default: 10
  • PID setting; proportional gain. Negative means use the robot's default value.
• pid_i (integer)
  • Default: 10
  • PID setting; integral gain. Negative means use the robot's default value.
• pid_d (integer)
  • Default: 600
  • PID setting; derivative gain. Negative means use the robot's default value.
• driffactor (integer)
  • Default: 0
  • It straightens the robot's translation forward and backward.
• robotWidth (integer)
  • Default: 410 mm. for mBase and 495 for MR7.
  • Wheelbase. Negative means use the robot's default value.
• robotWheel (integer)
  • Default: 200 mm. for mBase and 310 for MR7.
  • Side wheel diameter. Negative means use the robot's default value.
• debug (integer)
  • Default: 0
  • A value different than zero shows debugging messages.
• ir_analog (integer)
  • Default: 0
  • Zero makes the IR parameter works with digital values using a 1.83 threshold. A different value of zero makes the IR parameter works with the values in volts.

Example

driver
(
  name "mbasedriver"

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

  port "/dev/ttyS0"
)

Author

Joakim Arfvidsson, Brian Gerkey, Kasper Stoy, James McKenna, Ana Teresa Hernández Malagón