White Box Robotics Model 914 robot

The White Box Robotics Model 914 computer communicates with the M3 I/O and motor control board over a serial-to-USB driver. The serial commands are used to communicate with two PMD motion control chips that drive the stepper motors and control the onboard I/O.

Compile-time dependencies
  • none
Provides

The wbr914 driver provides the following device interfaces, some of them named:

  • interface_position2d
    • This interface returns position data, and accepts velocity commands.
      • PLAYER_POSITION2D_CMD_VEL
  • interface_ir
    • This interface returns the IR range data.
  • interface_aio
    • This interface returns the analog input data from the optional 2nd I/O board.
  • interface_dio
    • This interface returns the digital input information and allows control of the digital outputs on all installed White Box Robotics I/O boards. The first I/O board supplies 8 digital inputs and outputs and the optional second I/O board supplies an additional 8 digital inputs and outputs.
Supported configuration requests
  • interface_position2d :
    • PLAYER_POSITION2D_REQ_SET_ODOM
    • PLAYER_POSITION2D_REQ_MOTOR_POWER
    • PLAYER_POSITION2D_REQ_RESET_ODOM
    • PLAYER_POSITION2D_REQ_GET_GEOM
  • interface_ir :
    • PLAYER_IR_REQ_POSE
Supported commands
  • interface_position2d :
    • PLAYER_POSITION2D_CMD_VEL
  • interface_dio :
    • PLAYER_DIO_CMD_VALUES
Configuration file options
  • port (string)
    • Default: "/dev/ttyUSB0"
Example
driver
(
  name "wbr914"
  provides [ "position2d:0" "ir:0" "aio:0" "dio:0" ]
  port "/dev/ttyUSB0"
)
Author
Ian Gough, White Box Robotics