Update of /cvsroot/playerstage/code/player/config
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv10530/config
Added Files:
erratic.cfg
Log Message:
new .cfg example
--- NEW FILE: erratic.cfg ---
# Example file instantiating the Videre robot driver
# All options you might want to use are instantiated here
# In general, the player standard units are
# translational velocity: m/s
# rotational velocity: deg/s
driver
(
# Standard player options for presenting this instance of the driver
name "erratic"
# Standard player option, tells the driver to expose all interfaces, and
# assigns them IDs
provides [ "position2d:0"
"power:0"
"aio:0" ]
# Serial port to use for connecting to robot
# USB/serial link would be /dev/ttyUSB0
port "/dev/ttyS0"
# Maximum translational and rotational speeds accepted during operation.
# This is also capped by robot's internal hard limits, potentially
lower than
# given here. For Erratic, it's about 2 m/s and 720 deg/s
max_trans_vel 3
max_rot_vel 720
# The robot uses these acceleration values to achieve desired velocity.
There
# is a hard minimum acceleration as well as a top one, set by the robot.
trans_acc 1
rot_acc 200
# If set, these specify the robot to use another acceleration when
target
# velocity is zero.
# trans_decel 3
# rot_decel 300
# Parameters for the PD control loop onboard the robot. When in
individual
# wheel control, translation parameters are used for each wheel control.
# Warning: Changes can have unexpected effects, including truly erratic
# behavior.
pid_trans_p 40
pid_trans_v 100
pid_rot_p 40
pid_rot_v 100
# These set how to drive the wheel motors. Frequency affects noise, and
# perhaps power efficiency.
motor_pwm_frequency 10000
motor_pwm_max_on 0.7
# Set to 1 to have the driver use individual wheel control. PD settings
for
# translation will be used. This might be useful depending on the kind
of
# control loop in your application, but probably you want to leave it
at 0
# (default).
direct_wheel_vel_control 0
# Setting this option to 1 saves the settings in the robot, making
permanent
# whatever settings state it is in after settings of this config file
are
# applied. The settings can then be left out of other configuration
files.
# Note that some of the settings here are driver settings and not robot
ones,
# and are therefore not affected by a save.
# NOTE: If a bad setting messes up the behavior of the robot, it can be
reset
# to factory defaults by holding down its button while powering it up.
save_settings_in_robot 0
)
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