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RE: [Java-player-users] Wheel control...
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From: Matthew J. <mjo...@ih...> - 2005-05-20 15:28:02
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Radu, Please keep me informed on your progress. I am also willing to discuss ideas as you develop things. Matt -----Original Message----- From: jav...@li... [mailto:jav...@li...] On Behalf Of Radu Bogdan Rusu Sent: Thursday, May 12, 2005 3:52 PM To: jav...@li... Subject: Re: [Java-player-users] Wheel control... You are perfectly right Matthew, and I stand by you 100%. That is one of the main reasons why I started the PID chat on playerstage-developers today. I'm actually thinking if we should have a whole new interface (abstract + implementations) just for controllers. It would be best to do it at the player level, but I wouldn't mind coding some Java classes for it too. (btw, we have java-player-developers too. maybe we can use that one for this kind of talks. they might provide ideas which we could then take to playerstage-developers for further development :). Cheers, Radu. On Thu, May 12, 2005 at 03:43:51PM -0500, Matthew Johnson wrote: > 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 > > > > > > > > > > > > > > > ------------------------------------------------------- > > > This SF.Net email is sponsored by Oracle Space Sweepstakes > > > Want to be the first software developer in space? > > > Enter now for the Oracle Space Sweepstakes! > > > http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click > > > _______________________________________________ > > > Java-player-users mailing list > > > Jav...@li... > > > https://lists.sourceforge.net/lists/listinfo/java-player-users > > > > -- > > > > 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] > > > > > > ------------------------------------------------------- > > This SF.Net email is sponsored by Oracle Space Sweepstakes > > Want to be the first software developer in space? > > Enter now for the Oracle Space Sweepstakes! > > http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click > > _______________________________________________ > > Java-player-users mailing list > > Jav...@li... > > https://lists.sourceforge.net/lists/listinfo/java-player-users > > > > > > > > ------------------------------------------------------- > > This SF.Net email is sponsored by Oracle Space Sweepstakes > > Want to be the first software developer in space? > > Enter now for the Oracle Space Sweepstakes! > > http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click > > _______________________________________________ > > Java-player-users mailing list > > Jav...@li... > > https://lists.sourceforge.net/lists/listinfo/java-player-users > > -- > > 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] > > > ------------------------------------------------------- > This SF.Net email is sponsored by Oracle Space Sweepstakes > Want to be the first software developer in space? > Enter now for the Oracle Space Sweepstakes! > http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click > _______________________________________________ > Java-player-users mailing list > Jav...@li... > https://lists.sourceforge.net/lists/listinfo/java-player-users > > > > ------------------------------------------------------- > This SF.Net email is sponsored by Oracle Space Sweepstakes > Want to be the first software developer in space? > Enter now for the Oracle Space Sweepstakes! > http://ads.osdn.com/?ad_id=7393&alloc_id=16281&op=click > _______________________________________________ > Java-player-users mailing list > Jav...@li... > https://lists.sourceforge.net/lists/listinfo/java-player-users -- 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] ------------------------------------------------------- This SF.Net email is sponsored by Oracle Space Sweepstakes Want to be the first software developer in space? 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