Re: [Playerstage-users] roomba driver's position2d won't respond to SetSpeed (possibly incorrect client code)

[Paul O. <pj...@gm...>]

The solution to my problem is simple:

SetSpeed(0,0) appeared to do nothing because main() returned 0 before the
player_position2d_cmd_vel_t is sent over serial.  If I do:

lookForTwoBlobs()
SetSpeed(0,0)
idle for a second
exit program

it works OK.



On Sun, Jan 24, 2010 at 5:17 PM, Paul Ozog <pj...@gm...> wrote:

> My Position2d device (provided by the "roomba" driver for a Roomba 500) is
> not stopping when i tell it to.  But in stage, the robots stop fine.
>
> I have something like so:
>
> int main () {
> ...
>  p2d.SetMotorEnable(true);
>  lookForBlobs(2);  // Function i wrote - turns clockwise until 2 blobs are
> in sight.
>
>   cout<<"Sending stop command..."<<endl;
>  p2d.SetSpeed(0,0);  // Stop turning.
>
>  return 0;
> }
>
> lookForBlobs is a pretty simple routine that does the following (pseudo
> code-ish):
>
> void lookForBlobs(unsigned int count) {
>
>   p2d.SetSpeed(0, TURNSPEED);
>
>   while (!hasFoundCountBlobs) {
>       PlayerClientProx.Read();
>       if bfinder.GetCount() equals 2
>           hasFoundCountBlobs = True;
>   }
>
> }
>
> The output when used on a roomba 500:
>
> $ ./a.out
> ...
> Sending stop command...
>
> $
>
> So the bot sees two blobs, sends the stop command, exits the program, but
> the roomba keeps on turning!  The player sever must be Killed manually.  Am
> I doing something wrong?  If i make the stop command in a while loop, ie:
>
> while (True)
>    p2d.SetSpeed(0,0);
>
> That stops the robot from turning... but this is not ideal... If anyone can
> help i'd appreciate it.  Thanks
>
>
> Paul
>
>
>
>