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

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Matthew,

I forgot to tell you that I commited the changes for some basic controllers
to the CVS. I wrote a mail to java-player-developers@ about it yesterday.

In theory, I will work with Brad sometime later next month to develop the
controllers as player drivers instead of java classes.

Cheers,
Radu.

On Fri, May 20, 2005 at 10:27:33AM -0500, Matthew Johnson wrote:
> 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
> > > > 
> > > > 
> > > > 
> > > > 
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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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> > 
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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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> 
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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]