AioToSonar
Drivers

Array of analogue sonar sensors connected to an aio device. More...

Array of analogue sonar sensors connected to an aio device.

The AioToSonar driver offers the sonar interface for a group of analogue sonar sensors. It accesses the sensors through an analogue IO interface. (For example, you could connect several Phidets sonar sensors to a Phidgets Interface Kit.)

Compile-time dependencies

- none

Provides

- sonar

Requires

- interface_aio: Offers the voltage values of the sensors.

Configuration requests

- PLAYER_SONAR_REQ_GET_GEOM
- On a PLAYER_SONAR_REQ_POWER request a NACK is replied only

Configuration file options

- sonarXX (Tuple)

          sonarXX [port x y z roll pitch yaw]

  - Default: None. You must specify all sensors here.
  - Configures each sonar sensor of the array numbered with XX (00-99). The numbering must be continuous.
  - port (int): The number of the input port in the aio interface, which this sensor is connected to.
  - x/y/z/roll/pitch/yaw (float): The pose of the sensor.
- samplingperiod (float)
  - Default: 0.02 s
  - Time (in seconds) between to consecutive message queue processings. Should be synchronised with the sampling period of the aio device (e.g. samplingperiod_sonar ~ samplingperiod_aio/2). Because this driver does not access any hardware, waking up is computationally lightweight.
- voltagetometers (float)
  - Default: 2.5918 m/V
  - distance = voltagetometers * voltage
  - Factor to convert the analogue input values (voltages) into distance values (meters). The default value fits for the Phidgets sonar sensor.

Example

    driver
    (
      name "AioToSonar"
      provides ["sonar:0"]
      requires ["aio:0"]

      # Sensor name, AIO Port and Pose (angles in degree) for each sensor
      # Name [port x y z roll pitch yaw]
      sonar00 [0  0.3  0.3  0.3  0.0  0.0  0.0]
      sonar01 [4 -0.3  0.3  0.3  180  0.0  0.0]
    )

Author
  Walter Bamberger

Last updated 12 September 2005 21:38:45