From: Brian G. <ge...@ai...> - 2004-10-12 21:39:27
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On Sun, 10 Oct 2004, Alvaro Canivell wrote: > In my opinion, as the max acceleration, just like the max speed and turnrate, > seems to be intended to "limit" the dynamics of the robot for security > issues, it would feel a little bit unsafe to touch it while the robot is > running. Anyway, if it is so easy to implement, maybe it is not a bad idea to > have this available... I've just added four config file options to the p2os driver: * max_xaccel 0 o Maximum translational acceleration, in mm/sec/sec; nonnegative. Zero means use the robot's default value. * max_xdecel 0 o Maximum translational deceleration, in mm/sec/sec; nonpositive. Zero means use the robot's default value. * max_yawaccel 0 o Maximum rotational acceleration, in deg/sec/sec; nonnegative. Zero means use the robot's default value. * max_yawdecel 0 o Maximum rotational deceleration, in deg/sec/sec; nonpositive. Zero means use the robot's default value. If you set these in your .cfg file, then the driver will use the appropriate P2OS calls (SETA and SETRA) to change the accel/decel limits on startup. I don't have a Pioneer handy so I haven't tested this code; take care. > I think the possibility to change the PID values of the robot while it is > running would be the best alternative, and the most useful. Many industrial > controllers apply different PID constants to control the same system > depending on the working point of it, so why not having this capability in > our case? Definitelly, useful! This is definitely doable, but I'm unlikely to get to it. I'd happily merge a patch adding support for this, if someone were to submit it. brian. -- Brian P. Gerkey ge...@ai... Stanford AI Lab http://ai.stanford.edu/~gerkey |