Player driver for Birabayin position1d->position2d interface

[John Zaitseff-2]

If you have been following this list closely, you would have read
that the Centre for Autonomous Systems at the University of New
South Wales purchased a couple of Maxon EC45 250W motors, along
with corresponding 4QEC (DES 70/10) servoamplifier controllers.

In addition, you would have seen the position1d Player 2.0 driver I
had written for the Maxon DES controllers.  Such a driver is
useful, of course, but is not quite enough to drive a robot: a
position2d driver is needed for that!

Thus I wrote a driver that would take two instances of position1d
devices (in our case, two instances of the maxon4qec driver, but,
in theory, almost any position1d driver will do) and merge them
into a single position2d interface.  This driver I called
Birabayin, the Darug (aboriginal) name for an emu, the name we gave
to the predecessor of our current robot platform.

Although this driver, birabayin, is written for Player 2.0, I'm
hoping someone will translate it to Player 3.0: a generic
position1d -> position2d driver would, I think, be very useful in
the Player/Stage source tree.  As long as the position1d devices
deal in units of radians and radians per second, this driver will
(I think) work fine with them.

I hope this might be of some interest to Player users out there!  
I'd appreciate any feedback you might have, CCed (if possible) to
my personal e-mail address, <J.Zaitseff@...>.

Yours truly,

John Zaitseff

--
John Zaitseff            Centre for Autonomous Systems,
Research Engineer        School of Computer Science and Engineering,
Phone: [phone]   University of New South Wales,
Fax:   [phone]   Sydney, NSW, 2052, Australia.

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#########################################################################
#                                                                       #
#           Sample configuration file for the Birabayin robot           #
#                                                                       #
#########################################################################

# Author: John Zaitseff <J.Zaitseff@...>
# Date:   20th October, 2009
#
# $Id: birabayin-sample.cfg 1696 2009-10-20 03:57:21Z zaitseff $

# Position2D driver for the Birabayin robot

driver
(
    name "birabayin"
    plugin "birabayin.so"
    provides ["position2d:0"]
    requires ["left:::position1d:0" "right:::position1d:1"]

    mainloop_delay 50000 # Main loop delay (usec)

    robot_width 0.7 # Robot width (side to side, m)
    robot_depth 0.7 # Robot depth (front to back)
    wheel_diameter 0.33 # Wheel diameter (m)

    translation_tweak 1.0 # Translational velocity tweak
    rotation_tweak 1.0 # Rotational velocity tweak

    wheel_tweak_left_forward 1.0 # Tweak factor for left wheel
    wheel_tweak_left_reverse 1.0 # Tweak factor for left wheel
    wheel_tweak_right_forward 1.0 # Tweak factor for right wheel
    wheel_tweak_right_reverse 1.0 # Tweak factor for right wheel

    debug true # Provide diagnostic messages?
    test_mode 0 # Specific testing disabled
)

# Position1D driver on left-hand side wheels

driver
(
    name "maxon4qec"
    plugin "../maxon4qec/maxon4qec.so"
    provides ["position1d:0"]
    port "/dev/ttyUSB0"

    driver_timeout 10.0 # Player driver timeout (sec)
    mainloop_delay 50000 # Main loop delay (usec)

    speedreggainp 387 # P-gain for speed regulation
    speedreggaini 62 # I-gain for speed regulation
    peakcurrent 30000 # Peak current (mA)
    maxcontcurrent 10000 # Max. continuous current (mA)
    maxspeed 9000 # Max. idle speed (rpm)
    acceleration 500 # Acceleration (rpm per 128ms)
    encresolution 500 # Encoder resolution (cpt)

    gearratio 81.0 # Gear reduction ratio on motor
    vel_tweak 1.0 # Velocity tweak factor
    pos_tweak 1.0 # Position tweak factor

    debug true # Provide diagnostic messages?
    test_mode 0 # Specific testing disabled
)

# Position1D driver on right-hand side wheels

driver
(
    name "maxon4qec"
    plugin "../maxon4qec/maxon4qec.so"
    provides ["position1d:1"]
    port "/dev/ttyUSB1"

    driver_timeout 10.0 # Player driver timeout (sec)
    mainloop_delay 50000 # Main loop delay (usec)

    speedreggainp 387 # P-gain for speed regulation
    speedreggaini 62 # I-gain for speed regulation
    peakcurrent 30000 # Peak current (mA)
    maxcontcurrent 10000 # Max. continuous current (mA)
    maxspeed 9000 # Max. idle speed (rpm)
    acceleration 500 # Acceleration (rpm per 128ms)
    encresolution 500 # Encoder resolution (cpt)

    gearratio 81.0 # Gear reduction ratio on motor
    vel_tweak 1.0 # Velocity tweak factor
    pos_tweak 1.0 # Position tweak factor

    debug true # Provide diagnostic messages?
    test_mode 0 # Specific testing disabled
)

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