bumpersafe
Drivers

Bumper monitor. More...

Bumper monitor.

This is a low level safety 'driver' that temporarily disables velocity commands if a bumper is pressed. It sits on top of bumper and position2d devices.

The general concept of this device is to not do much, but to provide a last line of defense in the case that higher level drivers or client software fails in its object avoidance.

Compile-time dependencies

- none

Provides

- position2d

Requires

- position2d : the underlying robot to be controlled
- bumper : the bumper to read from

Configuration requests

- PLAYER_POSITION2D_REQ_MOTOR_POWER : if motor is switched on then we reset the 'safe state' so robot can move with a bump panel active
- all other requests are just passed on to the underlying position2d device

Configuration file options

- none

Example

    driver
    (
      name "bumpersafe"
      provides ["position:0"]
      requires ["position:1" "bumper:0"]
    )

Author
  Toby Collett

Last updated 12 September 2005 21:38:45