Amtec PowerCube modules

A driver for the Powercube Modules from Amtec Robotics, Berlin. This driver uses the official C++ driver from Amtec (Called Powercube M5api). You can download it from here after obtaining a password from the company: http://www.powercube.de/files/PCube_M5api_Linux/M5DLL_SUSE_10.0.tar

For precise timing, use a recent Linux kernel (2.6.19 should have the hrtimers code inside)

Compile-time dependencies
  • Amtec Powercube M5api
Provides
  • interface_actarray
Requires
  • none
Configuration requests
  • PLAYER_ACTARRAY_REQ_POWER
  • PLAYER_ACTARRAY_REQ_GEOM
  • PLAYER_ACTARRAY_REQ_SPEED
  • PLAYER_ACTARRAY_REQ_ACCEL
  • PLAYER_ACTARRAY_REQ_BRAKES
Configuration file options
  • highpriority (int)
    • Default: 0
    • Tell the scheduler we need high priority
  • connstring (string)
    • Default: ""
    • Connection string used by Pcube driver from Amtec
  • samplingrate (float)
    • Default: 20
    • Sampling rate, in milliseconds
  • alarmtime (float)
    • Default: 25
    • Alarm time, in milliseconds
  • module_count (int)
    • Default: 0
    • Number of modules that we expect on the bus
  • debug_level (int)
    • Default: 0
    • Display extra debug messages
  • initial_ramp_speed (float)
    • Default: 0.1
    • Initial speed
  • initial_ramp_accel (float)
    • Default: 0.1
    • Initial acceleration
  • directions (string)
    • Default: ""
    • Vector for the directions of the modules
Example
driver
(
  name "amtecM5"
  connstring "/dev/ttyS0"
  highpriority 0
)
Author
Alexis Maldonado
Date
2006