Array of analog sonar sensors connected to an aio device.

The AioToSonar driver offers the sonar interface for a group of analogue sonar sensors. It accesses the sensors through an analogue IO interface. (For example, you could connect several Phidets sonar sensors to a Phidgets Interface Kit.)

Compile-time dependencies
  • none
Provides
  • interface_sonar
Requires
  • interface_aio
    • Offers the voltage values of the sensors.
Configuration requests
  • PLAYER_SONAR_REQ_GET_GEOM
  • PLAYER_SONAR_REQ_POWER
    • a NACK is replied only
Configuration file options
  • sonarXX (Tuple)
        sonarXX [port x y z roll pitch yaw]
    • Default: None. You must specify all sensors here.
    • Configures each sonar sensor of the array numbered with XX (00-99). The numbering must be continuous.
    • port (int): The number of the input port in the aio interface, which this sensor is connected to.
    • x/y/z/roll/pitch/yaw (float): The pose of the sensor.
  • samplingperiod (float)
    • Default: 0.02 s
    • Time (in seconds) between to consecutive message queue processings. Should be synchronised with the sampling period of the aio device (e.g. samplingperiod_sonar ~ samplingperiod_aio/2). Because this driver does not access any hardware, waking up is computationally lightweight.
  • voltagetometers (float)
    • Default: 2.5918 m/V
    • distance = voltagetometers * voltage
    • Factor to convert the analogue input values (voltages) into distance values (meters). The default value fits for the Phidgets sonar sensor.
Example
driver
(
  name "AioToSonar"
  provides ["sonar:0"]
  requires ["aio:0"]

  # Sensor name, AIO Port and Pose (angles in degree) for each sensor
  # Name [port x y z roll pitch yaw]
  sonar00 [0  0.3  0.3  0.3  0.0  0.0  0.0]
  sonar01 [4 -0.3  0.3  0.3  180  0.0  0.0]
)
Author
Walter Bamberger