amtecpowercube
Drivers

Amtec PowerCube pan-tilt unit. More...

Amtec PowerCube pan-tilt unit.

The amtecpowercube driver controls the Amtec PowerCube Wrist, a powerful pan-tilt unit that can, for example, carry a SICK laser (sicklms200).

This driver communicates with the PowerCube via RS232, and does NOT handle the newer CAN-based units. Please submit a patch to support the CAN protocol.

The amtecpowercube driver supports both position and velocity control, via the PLAYER_PTZ_REQ_CONTROL_MODE request. For constant swiveling, the PowerCube works better under velocity control.

Note that this driver is relatively new and not thoroughly tested.

Compile-time dependencies

- none

Provides

- ptz

Requires

- none

Configuration requests

- PLAYER_PTZ_REQ_CONTROL_MODE

Configuration file options

- port (string)
  - Default: "/dev/ttyS0"
  - Serial port where the unit is attached.
- home (integer)
  - Default: 0
  - Whether to home (i.e., reset to the zero position) the unit before commanding it
- speed (angle)
  - Default: 40 deg/sec
  - Maximum pan/tilt speed

Example

    driver
    (
      name "amtecpowercube"
      port "/dev/ttyS0"
      home 1
    )

Author
  Brian Gerkey

Last updated 12 September 2005 21:38:45