Re: [Playerstage-users] player on a P2AT

[Fred L. <ff...@ab...>]

Ashley Tews writes:
 > 
 > If I understand the AT low level control commands correctly, there are two
 > modes for controlling the AT that allow either combined (via p2os VEL2
 > commands) or seperate rotational (RVEL) and translational (VEL) control.
 > The AT doesn't turn very well with VEL2 commands and will not turn on the
 > spot unless the surface is slippery. This is the mode you are probably
 > using for player. The other mode allows the robot to turn on the spot
 > since the turn command is specified seperately from the drive command.
 > This was probably the mode you were using in ARIA.

I haven't got a clue which mode I use under ARIA.  But the teleop example
allows to set a speed and turn at the same time.  And it will turn on the
spot if (or almost) if the speed is low enough.  And that's on carpet.  But
maybe it changes from one mode to another automatically.

 > 
 > For you current configuration, try increasing the requested velocity
 > and/or decreasing the turn rate. Alternatively, if you need to make the
 > robot turn on the spot, you can try changing the velocity mode in the
 > player config file so it uses independent mode - check the documentation
 > under p2os. I don't know how well this mode works since I haven't tried
 > it.

I'll have a look.

Thanks.

Fred