Mixed mode driver for Garcia robot by Acroname.

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
  • interface_position2d
  • interface_ir
  • interface_speech
  • interface_dio
  • interface_power
  • interface_ptz (not yet implemented)
  • interface_position1d (not yet implemented)
Requires
  • none
Configuration requests
  • interface_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