Re: [Playerstage-developers] Position control in Stage

[Reed H. <re...@ac...>]

Reed Hedges wrote:
> An amendment to my proposed spceficication of the position command.  It 
> is probably simpler not to use the speeds given in the command for 
> position control.  Instead, we can expand the POSITION_SPEED_PROF_REQ 
> config request to include rotation velocity/acceleration:


/** @brief Configuration request: Set speed profile parameters (limits).
  *
  *  @note Not supported by all drivers.
  */
typedef struct player_position_speed_prof_req
{
   /** subtype; must be PLAYER_POSITION_SPEED_PROF_REQ */
   uint8_t subtype;
   /** maximum speed */
   int16_t speed;
   /** maximum acceleration */
   int16_t acc;
   /** maximum rotational speed */
   int16_t turnrate;
   /** maximum rotational acceleration */
   int16_t turnacc;
   /** maximum deceleration */
   int16_t decel;
   /** Maximum rotation decel */
   int16_t turndecel;
} __PACKED__ player_position_speed_prof_req_t;