Hi,

I follow your instructions but I cannot put the GoTo function, from the Position2dProxy class, working. I've set my .cfg file as this:

#########################

driver
(
  name "segwayrmp"
  provides ["position2d:0" "position3d:0" "power:0" "ui:::power:1"]
  bus "usb"
  usb_device "/dev/ttyUSB0"
  max_xspeed 1.5
  max_yawspeed 40
)

driver
(
  name "goto"
  provides ["position2d:2" "dio:0"]
  requires ["position2d:0"]
  debug 1
  reactive 1
)

#########################

and my code is this:

#########################

int main_segway(int argc, char *argv[])
{

    PlayerClient sw("localhost");
    Position2dProxy pp(&sw, 0);

    pp.SetMotorEnable(true);
    pp.ResetOdometry();

    sw.Read();
    pp.GoTo(0.5,0,0);
   
    return 0;
}

#########################

What am I doing wrong?

Thank you very much for your attention,
Nuno Moutinho