garcia

Mixed mode driver for Garcia robot by Acroname. More...

Mixed mode driver for Garcia robot by Acroname.

Author
Brad Kratochvil
Date
20050915

The Garcia mobile robot

Todo:
This driver is currently disabled because it needs to be updated to the Player 2.0 API.

The garcia driver captures

Compile-time dependencies
  • <acpGarcia.h>
Provides
Requires
  • none
Configuration requests
  • position2d
    • PLAYER_POSITION2D_REQ_GET_GEOM
    • PLAYER_POSITION2D_REQ_SET_ODOM :
    • PLAYER_POSITION2D_REQ_RESET_ODOM :
    • PLAYER_POSITION2D_REQ_MOTOR_POWER :
    • PLAYER_POSITION2D_REQ_SPEED_PID :
    • PLAYER_POSITION2D_REQ_POSITION_PID :
    • PLAYER_POSITION2D_REQ_SPEED_PROF :
    • PLAYER_IR_REQ_POSE :
Configuration file options
  • port (filename)
    • Default: "ttyS0"
    • Path to the serial port
  • baud (int)
    • Default: 38400
    • Baudrate of the serial port
  • speed (float)
    • Default: 0.7f
    • The speed for speaking the phrase. Values have a range of 0.0 to 1.0 and will be clamped to this range. 0.0 is the slowest and 1.0 is the fastest speed for saying the phrase.
  • pitch (float)
    • Default: 0.6f
    • The pitch for speaking the phrase. Values have a range of 0.0 to 1.0 and will be clamped to this range. 0.0 is the lowest and 1.0 is the highest pitch for saying the phrase.
  • volume (float)
    • Default: 1.0f
    • The volume for speaking the phrase. Values have a range of 0.0 to 1.0 and will be clamped to this range. 0.0 is the quietest and 1.0 is the loudest volume for saying the phrase.
Example
driver
(
  name "garcia"
  provides ["position2d:0"
            "ir:0"
            "dio:0"
            "speech:0"]
  port "ttyS0"
  baud "38400"
)
Author
Brad Kratochvil

Last updated 12 September 2005 21:38:45