#69 p2os driver: adds PID config settings, and bugfix

closed-accepted
Brian Gerkey
Player (393)
5
2006-02-22
2005-07-08
Dany Qumsiyeh
No

This lets you specify different p2os PID settings in
the server config file. These are normally stored in
flash, but can be changed on the fly like this as of
P2OS1.M.

There are separate settings for translation and
rotation, but if direct_wheel_vel_control is used, only
the translation ones apply. Kp, Kv, and Ki are the
proportional, derivative, and integral gain values
respectively.

Example:

driver
(
name "p2os"
direct_wheel_vel_control "0"
rot_kp "30"
rot_kv "200"
rot_ki "5"
trans_kp "30"
trans_kv "500"
trans_ki "15"
provides ["odometry::position:0"]
)

This also fixes a bug with the max accel/decel
settings; a small bitmask error limits them to 255.

Discussion

  • Dany Qumsiyeh
    Dany Qumsiyeh
    2005-07-08

    the patch

     
    Attachments
  • Brian Gerkey
    Brian Gerkey
    2006-02-22

    • status: open --> closed-accepted
     
  • Brian Gerkey
    Brian Gerkey
    2006-02-22

    Logged In: YES
    user_id=211013

    Merged in CVS. Will appear in 2.0.