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

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

Radu,

First, I apologize to those on the java list who are not interested in
this, but since it came up...

I was referring to the Player level.  Specifically what I mean is the
position interface includes:

Goto (x, y, yaw)
setPID(p, I, d)

These are not supported by all platforms, so I feel they should be
separate interface, for example:

Position interface = Goto(x, y,yaw)
PID interface = setPID(p, I, d)

This is just one example.  I have a lot of other issues with the Player
interfaces, but one of the biggest is that implementations should not
implement only a portion of the interface or you lose some of the
advantages to using an interface (platform abstraction).   Typically
implementations have to do this because the interface definition is not
well organized.

Matt

-----Original Message-----
From: jav...@li...
[mailto:jav...@li...] On Behalf Of Radu
Bogdan Rusu
Sent: Thursday, May 12, 2005 2:40 PM
To: jav...@li...
Subject: Re: [Java-player-users] Wheel control...

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]


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