From: ahoward <ah...@us...> - 2004-10-27 15:48:40
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Hi Brad: I've fixed the multidriver example code and config file and checked them back in. If you're working from anonymous CVS, the changes may take a while to reach those servers. Regarding the config file syntax, you can do something like this: driver ( name "s626driver" provides ["dio:0" "motorA::motor:0" "motorB::motor:1"] plugin "libs626driver.so" motorA_param "foo" motorB_param "bar" ) The "motorA/B" bit is just an arbitrary key to keep the two motor interfaces unique. And yes, the double colon is significant; the syntax for specifying devices is: [key:port:type:index], but you can omit the port if you are happy with the default value. A. On Wed, 27 Oct 2004, Kratochvil, Bradley Eugene wrote: > Hello, > > Thanks for the quick reply. That answered part of my question, but not > all :) I think I may have initially been unclear. > > My question was more about what to do with the two of the same sensor > interfaces that are part of the same mixed mode driver. Thus, > > # Motor control > motor:0 (plugin "libs626driver.so" > driver "s626_motor" motor_id 0 > encoder_count 128 > gear_ratio 231 > position_kp 80.000 > position_ki 02.000 > position_kd 00.250 > ) > motor:1 (plugin "libs626driver.so" > driver "s626_motor" motor_id 1 > encoder_count 256 > gear_ratio 1119 > position_kp 50.000 > position_ki 01.000 > position_kd 00.000 > ) > > >From what I've figured out so far: > > # NEW: > driver ( > name "s626driver" > provides ["dio:0" > "motor:0" > "motor:1"] > plugin "libs626driver.so" > ) > > Is this correct? If so, what is the best way to supply different > configure parameters to motor 1 and 0? > > Best regards, > > Brad > > -----Original Message----- > From: pla...@li... > [mailto:pla...@li...] On Behalf Of > Mr Allwyn Fernandes > Sent: Wednesday, October 27, 2004 5:11 PM > To: pla...@li... > Subject: Re: [Playerstage-developers] multidriver example plugin broken? > > Hi Brad, > > Not sure about the plugin code, but I think the config file now needs to > look > like this: > > # Digital IO > # OLD: > #dio:0 ( plugin "libs626driver.so" > # driver "s626_dio" ) > # NEW: > driver ( > name "s626_dio" > provides ["dio:0"] > plugin "libs626driver.so" > ) > > As far as I have been keeping track, that includes all the semantic > changes to > the config file. > > Hope that helps... > > Cheers, > Allwyn. > > On Thursday 28 October 2004 00:47, Kratochvil, Bradley Eugene wrote: > > Hello all, > > > > It's been a while since I've worked on the Player CVS, and I'm just > > getting back into the swing of things. I've noticed that quite a few > > changes have occurred with writing drivers. > > > > So, the first thing I wanted to do was update an old mixed mode plugin > > driver that we use to work with the new standards, but I ran into a > > couple of problems. > > > > The examples/plugins/multidriver project doesn't seem to compile. It > > complains about ParseDeviceIds not being found. I've determined that > > the reason for this is that it has been deprecated. I've started on > the > > track to fixing this, but I thought that maybe someone else had a > > working version of this. If not, any ideas which driver is the most > > similar to the multidriver (and working), so that I can fix it and > check > > it back in. > > > > On a related note, what is the proper way to write a configure file > for > > a mixed mode driver that has multiple instances of the same interface > > (which need different configuration parameters). > > > > For instance, I could previously use the following: > > > > # Digital IO > > dio:0 ( plugin "libs626driver.so" > > driver "s626_dio" ) > > # Motor control > > motor:0 (plugin "libs626driver.so" > > driver "s626_motor" motor_id 0 > > encoder_count 128 > > gear_ratio 231 > > position_kp 80.000 > > position_ki 02.000 > > position_kd 00.250 > > ) > > motor:1 (plugin "libs626driver.so" > > driver "s626_motor" motor_id 1 > > encoder_count 256 > > gear_ratio 1119 > > position_kp 50.000 > > position_ki 01.000 > > position_kd 00.000 > > ) > > > > But now, I'm not sure how to go about something like this. Any > pointers > > are greatly appreciated. > > > > Best regards, > > > > Brad > > > > > > > > ------------------------------------------------------- > > This SF.Net email is sponsored by: > > Sybase ASE Linux Express Edition - download now for FREE > > LinuxWorld Reader's Choice Award Winner for best database on Linux. > > http://ads.osdn.com/?ad_idU88&alloc_id065&op=Click > > _______________________________________________ > > Playerstage-developers mailing list > > Pla...@li... > > https://lists.sourceforge.net/lists/listinfo/playerstage-developers > > -- > Allwyn Fernandes > Monash University > School of Applied Sciences and Engineering > Gippsland, Australia > > Mobile: +61 414 470 392 > > > > ------------------------------------------------------- > This SF.Net email is sponsored by: > Sybase ASE Linux Express Edition - download now for FREE > LinuxWorld Reader's Choice Award Winner for best database on Linux. > http://ads.osdn.com/?ad_id=5588&alloc_id=12065&op=click > _______________________________________________ > Playerstage-developers mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-developers > > > ------------------------------------------------------- > This SF.Net email is sponsored by: > Sybase ASE Linux Express Edition - download now for FREE > LinuxWorld Reader's Choice Award Winner for best database on Linux. > http://ads.osdn.com/?ad_idU88&alloc_id065&opclick > _______________________________________________ > Playerstage-developers mailing list > Pla...@li... > https://lists.sourceforge.net/lists/listinfo/playerstage-developers > Andrew Howard email: ah...@po... Department of Computer Science http: www-robotics.usc.edu/~ahoward University of Southern California phone: 1 (213) 740 6416 Los Angeles, CA, U.S.A. 90089-0781 fax: 1 (213) 821 5696 << Insert pithy saying here >>> |