roboteq
Drivers

Motor control driver for Roboteq AX2850. More...

Motor control driver for Roboteq AX2850.

Provides position2d interface to the Roboteq AX2850 motor controller http://www.roboteq.com/ax2850-folder.html

Compile-time dependencies

- none

Provides

- position2d power position1d dio

Requires

- None

Configuration requests

- none

Configuration file options

- devicepath (string)
  - Default: none
  - The serial port to be used.
- baud (integer)
  - Default: 9600
  - The baud rate to be used.
- motor_control_mode (integer)
  - Default: ( 1 - open loop separate speed if no encoder, 197 - A&B mixed speed closed loop if encoders)
  - options (0-255 see Roboteq Motor Control Mode documentation)
    - 3 (A&B position analog feedback type)
- encoder_ppr
  - Default: 500
  - The number of pulses per revolution for the encoders. Optional if no encoders are present.
- wheel_circumference
  - Default: 1 meter
  - The wheel circumference in meters. Optional if no encoders present.
- axle_length
  - Default: 1 meter
  - The distance between the centers of the two wheels. Optional if no encoders present.
- gear_ratio
  - Default: 1
  - The gear ratio from the motor to the wheel (the number of motor revolutions per one revolution of the wheel). Optional if no encoders present.
- controller_current_limit
  - Default: 105 amperes
  - The maximum current to the motors. See the Roboteq manual.
- acceleration
  - Default: 0x20
  - The acceleration time constant. See the Roboteq manual.
- encoder_time_base
  - Default: 0x16
  - The encoder time base. Optional if no encoders are present. See the Roboteq manual.
- encoder_distance_divider
  - Default: 0x08
  - The encoder distance divider. Optional if no encoders are present. See the Roboteq manual.
- invert_directions
  - Default: false (off)
  - Invert the motor directions, useful if you find the motors turning in the opposite direction from what you intended...
- rc_mode_on_shutdown
  - Default: true (on)
  - Set the motor controller to RC mode when the driver shuts down.

Properties

- ch1_min_pos
  - Default -0.1
  - Minimum position in rad/m limit for channel 1 mootor when using position1d interface
- ch2_min_pos
  - Default -0.1
  - Minimum position in rad/m limit for channel 2 mootor when using position1d interface
- ch1_max_pos
  - Default 0.1
  - Maximum position in rad/m limit for channel 1 mootor when using position1d interface
- ch2_max_pos
  - Default 0.1
  - Maximum position in rad/m limit for channel 2 mootor when using position1d interface
- ch1_dpos_per_tick (float)
  - Default: 0.01
  - change in channel 1 position in rad/m per roboteq tick when using position1d interface
- ch2_dpos_per_tick (float)
  - Default: 0.01
  - change in channel 2 position per roboteq tick when using position1d interface
- Example

      driver
      (
        name "roboteq"
        provides ["position2d:0" "power:0"]
        devicepath "/dev/ttyS0"
      )

    # Position1d interfaces
    driver
    (
      name "roboteq"
      provides ["position1d:0" "position1d:1"]
      devicepath "/dev/ttyS0"
      motor_control_mode "3"
      ch1_min_pos "-1.0"
      ch1_max_pos "1.0"
      ch2_min_pos "-10.0"
      ch2_max_pos "10.0"
    )

Author
  Pablo Rivera river.nosp@m.a@cs.nosp@m.e.unr.nosp@m..edu
  Mike Roddewig mrrod.nosp@m.dew@.nosp@m.mtu.e.nosp@m.du

Last updated 12 September 2005 21:38:45