RE: [Java-player-users] Wheel control...

[Matthew J. <mjo...@ih...>]

Radu,

It seems that this functionality should be divided into separate
interfaces.  Has there been any talk about doing this?

Matt

-----Original Message-----
From: jav...@li...
[mailto:jav...@li...] On Behalf Of Radu
Bogdan Rusu
Sent: Thursday, May 12, 2005 5:45 AM
To: jav...@li...
Subject: Re: [Java-player-users] Wheel control...


Hello Hugo,

In theory it should be achievable using setVelocityControl (). However,
not
every robot supports it, and it seems that Stage also doesn't. Here's
the
snippet from Player's manual:
"
Configuration request: Change velocity control.
...
The p2os driver offers two modes of velocity control: separate
translational
and rotational control and direct wheel control. When in the separate
mode,
the robot's microcontroller internally computes left and right wheel
velocities based on the currently commanded translational and rotational
velocities and then attenuates these values to match a nice predefined
acceleration profile. When in the direct mode, the microcontroller
simply
passes on the current left and right wheel velocities. Essentially, the
separate mode offers smoother but slower (lower acceleration) control,
and
the direct mode offers faster but jerkier (higher acceleration) control.
Player's default is to use the direct mode. Set mode to zero for direct
control and non-zero for separate control.
...
"

Sorry for replying so late,
Radu.

On Wed, May 11, 2005 at 06:57:00PM +0100, Hugo Gravato Marques wrote:
> 
> Hi...
> 
> I have tried to go through the java client source code to check for a
way to
> control the wheels independently instead of using the higher level
methods
> and I didn't find it... Can someone please give me an hint of how to
do this
> and how to get the amount of movement actually performed by each
wheel?
> 
> Thanks...
> Hugo
> 
> 
> 
> 
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-- 

Yours sincerely,
Radu Bogdan Rusu
--
| Radu Bogdan 'veedee' Rusu | http://www.rbrusu.com
| PhD student/teaching assistant
| Robotics Research Group, Technical University of Cluj-Napoca[.ro]


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