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

[Radu B. R. <ve...@in...>]

On Thu, May 12, 2005 at 08:10:54AM -0500, Matthew Johnson wrote:
> Radu,
> 
> It seems that this functionality should be divided into separate
> interfaces.  Has there been any talk about doing this?
> 
> Matt

Not that I know of. What do you mean by separate interfaces though? Player
level or Javaclient level? We could easily split it up I guess, but I am
also thinking about the heading and PID stuff too, since they're all
somewhat related. :)

Cheers,
Radu.

> 
> -----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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-- 

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]