From: Brian G. <ge...@ai...> - 2004-10-07 17:29:06
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On Thu, 7 Oct 2004, Alvaro Canivell wrote: > I am using Player v1.5 to control a Pioneer PeopleBot. > > 1)- I would like to know if there is a way to limit the maximum acceleration > in the p2os driver, just in a similar way as you can do with the maximum > speed and maximum yaw speed. > 2)- As an alternative to this, is it posible to configure the PID controller > parameters of the position interface in the p2os? There is a way to change the PID parameters used in the P2OS controller, but Player's p2os driver doesn't support it. If those parameters are stored in non-volatile flash, then you could set them manually, for example using ActivMedia's p2oscf tool. Note that you may also have to tell Player to use separate translational velocity and rotational control, instead of the default direct wheel velocity control (the latter is more responsive, but ignores the PID parameters). You can do this from your client with the PLAYER_POSITION_VELOCITY_MODE_REQ configuration request. > position:0 (driver "p2os_position" max_xspeed 2000.0 max_yawspeed 270) Can that robot really move at 2mps? brian. -- Brian P. Gerkey ge...@ai... Stanford AI Lab http://ai.stanford.edu/~gerkey |