39#include <libplayercore/playercore.h>
40#include <replace/replace.h>
43#define MOTOR_DEF_MAX_SPEED 0.3
44#define MOTOR_DEF_MAX_TURNSPEED DTOR(100)
45#define ACCELERATION_DEFAULT 100
46#define DECELERATION_DEFAULT 250
55#define GETEVENTSTATUS 0x31
56#define RESETEVENTSTATUS 0x34
57#define GETACTUALPOS 0x37
59#define SETACTUALPOS 0x4D
60#define GETSAMPLETIME 0x61
61#define SETPHASECOUNTS 0x75
62#define SETMOTORCMD 0x77
63#define SETLIMITSWITCHMODE 0x80
64#define WRITEDIGITAL 0x82
65#define READDIGITAL 0x83
66#define GETVERSION 0x8F
69#define SETPROFILEMODE 0xA0
70#define GETACTUALVEL 0xAD
71#define SETSTOPMODE 0xD0
72#define SETMOTORMODE 0xDC
73#define SETOUTPUTMODE 0xE0
74#define READANALOG 0xEF
76#define MOTOR_0 ((unsigned char)0x00)
77#define MOTOR_1 ((unsigned char)0x01)
80#define LEFT_MOTOR MOTOR_1
81#define RIGHT_MOTOR MOTOR_0
84#define DEFAULT_M3_PORT "/dev/ttyUSB0"
89 TrapezoidalProfile = 0,
90 VelocityContouringProfile,
101#define DEFAULT_MOTOR_0_DIR -1
102#define DEFAULT_MOTOR_1_DIR 1
103#define DEFAULT_AXLE_LENGTH (0.301)
105#define MAX_TICKS 48000
106#define WHEEL_DIAMETER (0.125)
107#define WHEEL_RADIUS (WHEEL_DIAMETER/2.0)
108#define WHEEL_CIRC (M_PI*WHEEL_DIAMETER)
109#define MOTOR_STEP (1.8/MOTOR_TICKS_PER_STEP)
110#define GEAR_RATIO (4.8)
111#define WHEEL_STEP (MOTOR_STEP/GEAR_RATIO)
112#define M_PER_TICK (WHEEL_RADIUS/WHEEL_STEP)
113#define MOTOR_TICKS_PER_STEP (64.0)
114#define MOTOR_TICKS_PER_REV (200.0*MOTOR_TICKS_PER_STEP)
115#define NUM_IR_SENSORS 8
118#define MAX_WHEELSPEED 8000
119#define MPS_PER_TICK 1
124#define DEFAULT_PERCENT_TORQUE 75
130 player_position2d_data_t position;
132 player_aio_data_t aio;
133 player_dio_data_t dio;
160 bool RecvBytes(
unsigned char*s,
int len );
161 int ReadBuf(
unsigned char* s,
size_t len);
162 int WriteBuf(
unsigned char* s,
size_t len);
163 int sendCmdCom(
unsigned char address,
unsigned char c,
164 int cmd_num,
unsigned char* arg,
165 int ret_num,
unsigned char * ret );
166 int sendCmd0(
unsigned char address,
unsigned char c,
167 int ret_num,
unsigned char * ret );
168 int sendCmd16(
unsigned char address,
unsigned char c,
169 int16_t arg,
int ret_num,
unsigned char * ret );
170 int sendCmd32(
unsigned char address,
unsigned char c,
171 int32_t arg,
int ret_num,
unsigned char * ret );
173 int32_t BytesToInt32(
unsigned char *ptr );
174 int16_t BytesToInt16(
unsigned char *ptr );
176 int ResetRawPositions();
183 void HandleVelocityCommand(player_position2d_cmd_vel_t* cmd );
184 void HandleDigitalOutCommand( player_dio_data_t* doutCmd );
185 void SetDigitalData( player_dio_data_t * d );
188 void GetAllData(
void );
189 void GetPositionData( player_position2d_data_t* d );
190 void GetIRData( player_ir_data_t * d );
191 void GetAnalogData( player_aio_data_t * d );
192 void GetDigitalData( player_dio_data_t * d );
194 void PublishData(
void);
197 const char* GetPMDErrorString(
int rc );
200 void Stop(
int StopMode );
202 bool EnableMotors(
bool enable );
204 void SetVelocity( uint8_t chan,
float mps );
205 void SetVelocity(
float mpsL,
float mpsR );
206 void SetVelocityInTicks( int32_t left, int32_t right );
207 void GetVelocityInTicks( int32_t* left, int32_t* right );
209 void Move( uint8_t chan,
float meters );
210 void Move(
float metersL,
float metersR );
212 void SetPosition( uint8_t chan,
float meters );
213 void SetPosition(
float metersL,
float metersR );
214 void SetActualPositionInTicks( int32_t left, int32_t right );
215 void SetActualPosition(
float left,
float right );
216 void GetPositionInTicks( int32_t* left, int32_t* right );
218 void SetAccelerationProfile();
220 int GetAnalogSensor(
int s,
short * val );
221 void GetDigitalIn(
unsigned short* digIn );
222 void SetDigitalOut(
unsigned short digOut );
223 void SetOdometry( player_position2d_set_odom_req_t* od );
224 void SetContourMode( ProfileMode_t prof );
225 void SetMicrosteps();
229 int32_t Meters2Ticks(
float meters );
230 float Ticks2Meters( int32_t ticks );
231 int32_t MPS2Vel(
float mps );
232 float Vel2MPS( int32_t vel );
237 struct termios _old_tio;
242 const char* _serial_port;
253 int position_subscriptions;
254 int ir_subscriptions;
255 int aio_subscriptions;
256 int dio_subscriptions;
259 int direct_wheel_vel_control;
261 player_position2d_cmd_vel_t last_position_cmd;
265 int motor_max_turnspeed;
268 short motor_max_trans_accel, motor_max_trans_decel;
269 short motor_max_rot_accel, motor_max_rot_decel;
273 player_position2d_geom_t _robot2d_geom;
274 player_position3d_geom_t _robot3d_geom;
275 player_ir_pose_t _ir_geom;
293 uint16_t _lastDigOut;
Class for loading configuration file information.
Definition configfile.h:197
An autopointer for the message queue.
Definition message.h:74
Base class for drivers which oeprate with a thread.
Definition driver.h:553
virtual void Main()
Main method for driver thread.
Definition wbr914.cc:620
virtual void MainQuit()
Cleanup method for driver thread (called when main exits)
Definition wbr914.cc:491
virtual int Subscribe(player_devaddr_t id)
Subscribe to this driver.
Definition wbr914.cc:509
virtual int MainSetup()
Sets up the resources needed by the driver thread.
Definition wbr914.cc:320
virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr, void *data)
Message handler.
Definition wbr914.cc:674
virtual ~wbr914()
Clean up any resources.
Definition wbr914.cc:309
virtual int Unsubscribe(player_devaddr_t id)
Unsubscribe from this driver.
Definition wbr914.cc:538
Messages between wsn and a robot.
Definition er.h:87
A device address.
Definition player.h:146
Generic message header.
Definition player.h:162