Re: [Playerstage-developers] patch for playerjoy 1.5

[Brian G. <ge...@ai...>]

On Fri, 24 Sep 2004, Reed Hedges wrote:

> Brian Gerkey wrote:
>> On Fri, 24 Sep 2004, Cameron Stone wrote:
>> 
>>> According to the pioneer docs, you need to send a command every
>>> 'watchdog' seconds (defaults to 2 I think), or it stops the robot.
>>> However, I have never seen this behaviour occur.
>> 
>> 
>> Me neither.  In my experience, you can send just one command, and the
>> Pioneer will happily keep on trucking.
>
> Does player send commands frequently?  AFAIK the watchdog/timeout feature 
> hasn't been removed :)
>
> It doesn't have to be a PULSE (0), it can be any command.  I guess the 
> watchdog times out when the robot is stopped, but then you wouldn't notice of 
> course.

Now that I think about it, Player's p2os driver is sending the latest
motor command every chance it gets, irrespective of whether a client has
supplied a new command.  In other words, the p2os driver is circumventing
any watchdog inside the Pioneer.

         brian.

-- 
Brian P. Gerkey                    ge...@ai...
Stanford AI Lab                    http://ai.stanford.edu/~gerkey