roboteq2

Provides position2d interface to the Roboteq AX2850 motor controller http://www.roboteq.com/ax2850-folder.html

Compile-time dependencies

• none

Provides

• interface_position2d interface_power

Requires

• None

Configuration requests

• none

Configuration file options

• devicepath (string)
  • Default: none
  • The serial port to be used.

• baud (integer)
  • Default: 9600
  • The baud rate to be used.

• encoder_ppr
  • Default: 500
  • The number of pulses per revolution for the encoders. Optional if no encoders are present.

• wheel_circumference
  • Default: 1 meter
  • The wheel circumference in meters. Optional if no encoders present.

• axle_length
  • Default: 1 meter
  • The distance between the centers of the two wheels. Optional if no encoders present.

• gear_ratio
  • Default: 1
  • The gear ratio from the motor to the wheel (the number of motor revolutions per one revolution of the wheel). Optional if no encoders present.

• controller_current_limit
  • Default: 105 amperes
  • The maximum current to the motors. See the Roboteq manual.

• acceleration
  • Default: 0x20
  • The acceleration time constant. See the Roboteq manual.

• encoder_time_base
  • Default: 0x16
  • The encoder time base. Optional if no encoders are present. See the Roboteq manual.

• encoder_distance_divider
  • Default: 0x08
  • The encoder distance divider. Optional if no encoders are present. See the Roboteq manual.

• invert_directions
  • Default: false (off)
  • Invert the motor directions, useful if you find the motors turning in the opposite direction from what you intended...

• rc_mode_on_shutdown
  • Default: true (on)
  • Set the motor controller to RC mode when the driver shuts down.

Example

driver
(
  name "roboteq"
  provides ["position2d:0" "power:0"]
  devicepath "/dev/ttyS0"
)

Author:

Pablo Rivera rivera@cse.unr.edu

Mike Roddewig mrroddew@mtu.edu