garcia
Drivers

Mixed mode driver for Garcia robot by Acroname. More...

Mixed mode driver for Garcia robot by Acroname.

Author
  Brad Kratochvil

Date
  20050915

The Garcia mobile robot

Todo:
  This driver is currently disabled because it needs to be updated to the Player 2.0 API.

The garcia driver captures

Compile-time dependencies

- <acpGarcia.h>

Provides

- position2d
- ir
- speech
- dio
- power
- ptz (not yet implemented)
- position1d (not yet implemented)

Requires

- none

Configuration requests

- position2d
  - PLAYER_POSITION2D_REQ_GET_GEOM
  - PLAYER_POSITION2D_REQ_SET_ODOM :
  - PLAYER_POSITION2D_REQ_RESET_ODOM :
  - PLAYER_POSITION2D_REQ_MOTOR_POWER :
  - PLAYER_POSITION2D_REQ_SPEED_PID :
  - PLAYER_POSITION2D_REQ_POSITION_PID :
  - PLAYER_POSITION2D_REQ_SPEED_PROF :
  - PLAYER_IR_REQ_POSE :

Configuration file options

- port (filename)
  - Default: "ttyS0"
  - Path to the serial port
- baud (int)
  - Default: 38400
  - Baudrate of the serial port
- speed (float)
  - Default: 0.7f
  - The speed for speaking the phrase. Values have a range of 0.0 to 1.0 and will be clamped to this range. 0.0 is the slowest and 1.0 is the fastest speed for saying the phrase.
- pitch (float)
  - Default: 0.6f
  - The pitch for speaking the phrase. Values have a range of 0.0 to 1.0 and will be clamped to this range. 0.0 is the lowest and 1.0 is the highest pitch for saying the phrase.
- volume (float)
  - Default: 1.0f
  - The volume for speaking the phrase. Values have a range of 0.0 to 1.0 and will be clamped to this range. 0.0 is the quietest and 1.0 is the loudest volume for saying the phrase.

Example

    driver
    (
      name "garcia"
      provides ["position2d:0"
                "ir:0"
                "dio:0"
                "speech:0"]
      port "ttyS0"
      baud "38400"
    )

Author
  Brad Kratochvil

Last updated 12 September 2005 21:38:45