amtecpowercube

Amtec PowerCube pan-tilt unit

The amtecpowercube driver controls the Amtec PowerCube Wrist, a powerful pan-tilt unit that can, for example, carry a SICK laser (sicklms200).

This driver communicates with the PowerCube via RS232, and does NOT handle the newer CAN-based units. Please submit a patch to support the CAN protocol.

The amtecpowercube driver supports both position and velocity control, via the PLAYER_PTZ_REQ_CONTROL_MODE request. For constant swiveling, the PowerCube works better under velocity control.

Note that this driver is relatively new and not thoroughly tested.

Compile-time dependencies
  • none
Provides
  • interface_ptz
Requires
  • none
Configuration requests
  • PLAYER_PTZ_REQ_CONTROL_MODE
Configuration file options
  • port (string)
    • Default: "/dev/ttyS0"
    • Serial port where the unit is attached.
  • home (integer)
    • Default: 0
    • Whether to home (i.e., reset to the zero position) the unit before commanding it
  • speed (angle)
    • Default: 40 deg/sec
    • Maximum pan/tilt speed
Example
driver
(
  name "amtecpowercube"
  port "/dev/ttyS0"
  home 1
)
Author
Brian Gerkey