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Drivers

A robot controller that drives a robot to a given target. More...

A robot controller that drives a robot to a given target.

Provides

- position2d
- dio

Requires

- position2d

Configuration requests

- None

Configuration file options

- dist_tol (float)
  - Default: DEFAULT_DIST_TOL
  - Distance to the target tollerance
- angle_tol (float)
  - Default: DEFAULT_ANGLE_TOL
  - Angle difference tollerance
- max_dist (float)
  - Default: 0.5
  - Maximum distance between checkpoints
- debug (integer)
  - Default: 0
  - Debug
- reactive (integer)
  - Default: 0
  - Shall we react for stall states? 0 - no, 1 - yes (see 'reaction_turn_vel', 'reaction_time'), 2 - yes, with random parameters
- reaction_turn_vel (float)
  - Default: 0.0 (rad/sec)
  - When 'reactive' is set to 1, this driver causes a robot to go back on stall state for a while ('reaction_time') turning it with 'reaction_turn_vel' angular velocity
- reaction_time (float)
  - Default: 1.5 (seconds)
  - When 'reactive' is set to 1, this driver causes a robot to go back on stall state for a while ('reaction_time') turning it with 'reaction_turn_vel' angular velocity
- forward_enabled (integer)
  - Default: 0
  - Shall we forward position2d velocity commands?
- early_check (integer)
  - Default: 1
  - If set to 1, do not wait for newer position data to check if at target
- send_everything (integer)
  - Default: 1
  - If set to 1, data and commands are sent at once
- max_vel
  - Default: 0.7
  - Maximum speed forward
- min_vel
  - Default: 0.1
  - Minimum speed forward
- max_angular_vel
  - Default: 45.0
  - Maximum rotation speed
- min_angular_vel
  - Default: 10.0
  - Minimum rotation speed

Example

    driver
    (
      name "goto"
      provides ["position2d:100" "dio:0"]
      requires ["position2d:0"]
      debug 1
      reactive 1
    )

Author
  Paul Osmialowski

Last updated 12 September 2005 21:38:45