I think that the list can't handle plain text attachments right.
Here you can download those modified files
Federico Sassi wrote:
> I'm Federico Sassi a student of the Robotics Lab (
> http://rimlab.ce.unipr.it/ ) at University of Parma (Italy) and I
> extended Player-Stage driver for Roomba.
> I read a precedent discussion around August 25th, where Chad Jenkins
> introduced an IRProxy implementing wall, cliff, virtual wall detection
> So I've implemented his ideas but we needed access to other sensors; in
> particular we needed to
> read button and remote input status
> set led over Roomba
> read wheeldrops status
> activate vacuuming motors
> I couldn't find any appropriate proxy already inside PlayerStage that
> would allow me to access these sensors in an easy way (with operator
> in an array-like way as with an IrProxy). I've tried to map buttons
> status in a DioProxy even if I couldn't get it to work. Moreover I've
> understood that it can send just one byte so I would have had to
> implement two DioProxy, one for buttons and one for remote because the
> remote itself sends one byte.
> So I've decided to use two OpaqueProxy:
> OpaqueProxy:::”control” to read button and remote status and to set leds.
> OpaqueProxy:::”motor” to read wheeldrops and to activate vacuum.
> I know that this isn't straightforward but I couldn't figure out another
> way (better ideas are appreciated).
> So I extended Gerkey's lower level driver (roomba_comms.c) inside
> PlayerStage 2.0.2 implementing two easy function to set leds and motors;
> and I extended the abstract driver with the three new Proxy.
> Everything seems to work.
> In attachments you can find
> - modified versions of the drivers (roomba_comm.h roomba_comm.c
> - diffs file from PlayerStage source 2.0.2 (diff_roomba_comm.h
> diff_roomba_comm.c diff_roomba_driver.cc)
> - a simple C++ program that explain the usage of the new proxies
> (roombamove.cc roombamove.h Makefile)
> - configuration file for Player-Stage
> I hope this work could be useful to someone else.
> Thanks very much to having read this far!
> Federico Sassi