Update of /cvsroot/playerstage/code/player/server/drivers/mixed/erratic
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv17521
Modified Files:
Tag: release-2-0-patches
erratic.cc motorpacket.cc robot_params.cc
Log Message:
Index: robot_params.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/mixed/erratic/robot_params.cc,v
retrieving revision 1.1.2.9
retrieving revision 1.1.2.10
diff -C2 -d -r1.1.2.9 -r1.1.2.10
*** robot_params.cc 5 Mar 2007 08:52:22 -0000 1.1.2.9
--- robot_params.cc 8 Aug 2007 06:53:20 -0000 1.1.2.10
***************
*** 164,166 ****
! RobotParams_t *RobotParams[2] = {&erratic_params_rev_E,
&erratic_params_rev_G};
--- 164,239 ----
! //
! // Rev H
! // Shayang-Ye motors
! // DistConvFactor and DiffConvFactor changes
! //
!
! RobotParams_t erratic_params_rev_H =
! {
! 0.001534,
! "Erratic",
! 0.011,
! 0.930, //This is the empirically correct value, but doesn't match wheel
size calculation
! 0,
! 1.626,
! 1,
! 1,
! 0,
! 0,
! 0,
! "",
! "",
! 0,
! 1,
! 0,
! 0,
! 0,
! 300,
! 1000,
! 0,
! 5,
! 5,
! 1,
! 0,
! 0,
! 0,
! 120,
! 392, // length, mm
! 180, // radius, mm
! 415, // width, mm
! 61, // axle distance to center of robot (positive
forward)
! 0,
! 0,
! 0,
! 1,
! 1,
! "Rev H",
! 38400,
! 0,
! 0,
! 0,
! 0,
! 20,
! 1.20482,
! 8,
! { // sonar poses, in m and rads
! { 0.180, 0.120, DTOR(90) },
! { 0.200, 0.100, DTOR(53) },
! { 0.205, 0.065, DTOR(24) },
! { 0.210, 0.045, DTOR(0) },
! { 0.210, -0.045, DTOR(0) },
! { 0.205, -0.065, DTOR(-24) },
! { 0.200, -0.100, DTOR(-53) },
! { 0.180, -0.120, DTOR(-90) },
! },
! 2,
! {
! {0.1, 0.1, 0}, // ir poses in m and deg
! {0.1, -0.1, 0},
! }
! };
!
!
! RobotParams_t *RobotParams[3] = {&erratic_params_rev_E,
&erratic_params_rev_G,
! &erratic_params_rev_H};
Index: erratic.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/mixed/erratic/erratic.cc,v
retrieving revision 1.1.2.19
retrieving revision 1.1.2.20
diff -C2 -d -r1.1.2.19 -r1.1.2.20
*** erratic.cc 22 Jul 2007 01:03:56 -0000 1.1.2.19
--- erratic.cc 8 Aug 2007 06:53:20 -0000 1.1.2.20
***************
*** 279,285 ****
}
! // Do we create a ptz interface?
! if(cf->ReadDeviceAddr(&(this->ptz_id), section, "provides",
PLAYER_PTZ_CODE, -1, NULL) == 0) {
! if(this->AddInterface(this->ptz_id) != 0) {
this->SetError(-1);
return;
--- 279,287 ----
}
! // Do we create a tilt-only ptz interface?
! // Must have a key of "tilt", e.g., "tilt:::ptz:1"
! // This device must be listed after the default PTZ device
! if(cf->ReadDeviceAddr(&(this->ptz2_id), section, "provides",
PLAYER_PTZ_CODE, -1, "tilt") == 0) {
! if(this->AddInterface(this->ptz2_id) != 0) {
this->SetError(-1);
return;
***************
*** 287,293 ****
}
! // Do we create the second ptz interface?
! if(cf->ReadDeviceAddr(&(this->ptz2_id), section, "provides",
PLAYER_PTZ_CODE, -1, "tilt") == 0) {
! if(this->AddInterface(this->ptz2_id) != 0) {
this->SetError(-1);
return;
--- 289,297 ----
}
! // Do we create a standard ptz interface?
! // NOTE: this interface has no key, it picks up the default PTZ device
! // MUST BE LISTED FIRST of all PTZ devices
! if(cf->ReadDeviceAddr(&(this->ptz_id), section, "provides",
PLAYER_PTZ_CODE, -1, NULL) == 0) {
! if(this->AddInterface(this->ptz_id) != 0) {
this->SetError(-1);
return;
***************
*** 519,525 ****
// Set the robot type
! if (subtype == "Rev G")
param_idx = 1;
! else if (subtype == "Rev E")
param_idx = 0;
else
--- 523,531 ----
// Set the robot type
! if (strcmp(subtype,"Rev H")==0)
! param_idx = 2;
! else if (strcmp(subtype,"Rev G")==0)
param_idx = 1;
! else if (strcmp(subtype,"Rev E")==0)
param_idx = 0;
else
Index: motorpacket.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/mixed/erratic/motorpacket.cc,v
retrieving revision 1.1.2.2
retrieving revision 1.1.2.3
diff -C2 -d -r1.1.2.2 -r1.1.2.3
*** motorpacket.cc 19 Dec 2006 18:55:56 -0000 1.1.2.2
--- motorpacket.cc 8 Aug 2007 06:53:20 -0000 1.1.2.3
***************
*** 66,77 ****
unsigned short newxpos, newypos;
! // Check type and length
! if (length < 20) return false;
status = buffer[cnt];
cnt += sizeof(unsigned char);
! // This driver does its own integration, and only cares for the lower bits
of the odometry updates
! // Integers from robot are little-endian
newxpos = buffer[cnt] + 0x100*(buffer[cnt+1]&0x0F);
--- 66,78 ----
unsigned short newxpos, newypos;
! // Check type and length
! if (length < 20) return false;
status = buffer[cnt];
cnt += sizeof(unsigned char);
! // This driver does its own integration, and only cares for the lower bits
! // of the odometry updates
! // Integers from robot are little-endian
newxpos = buffer[cnt] + 0x100*(buffer[cnt+1]&0x0F);
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