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configuration_control [2009/03/02 11:39]
hadrien
configuration_control [2009/03/02 11:49] (current)
hadrien
Line 27: Line 27:
  
 ==== Examples ==== ==== Examples ====
- 
-=== Two-wheels "​real-life"​ robot === 
- 
- 
-<​code>​ 
-controller{ ​                                 ​ 
-  type = "​ssc32",​ 
-  name = "​ssc32",​ 
-  device = "/​dev/​ttyUSB0",​ 
-  rate = 38400, ​                   
-  analogicTimer = 40000                
-} 
- 
-cservo{ ​   
-  name = "​leftwheel",​ 
-  controller = "​ssc32",​ 
-  plugID = 12,                          
--- calibration settings for cservo are 2 tables, one for pulse, the other for speed  
--- in mm/s; there are 11 entries per tables, 5 for backward speed, 1 for full stop,  
--- 5 for fwd:  {bwd5, bwd4, bwd3, bwd2, bwd1, stop, fwd1, fwd2, fwd3, fwd4, fwd5} 
-  speedCalib = {-122, -121,  -91,  -73,  -30,    0,   ​29, ​  ​81, ​ 104,  146,  147}, 
-  pulseCalib = {1800, 1690, 1630, 1600, 1560, 1530, 1490, 1450, 1410, 1370, 1250} 
- 
-  ​ 
-cservo{ ​                                   
-  name = "​rightwheel", ​                 ​ 
-  controller = "​ssc32",​ 
-  plugID = 8, 
-  speedCalib = {-122, -121,  -91,  -73,  -30,    0,   ​29, ​  ​81, ​ 104,  146,  147}, 
-  pulseCalib = {1800, 1690, 1630, 1600, 1560, 1540, 1490, 1450, 1410, 1370, 1250} 
-} 
- 
-servo{ ​ 
-  name = "​tower",​ 
-  controller = "​ssc32",​ 
-  plugID = 0, 
--- calibration settings for servo are 2 tables, one for pulse, the other for angle 
--- in degrees; there are 3 entries per tables: leftmost, center, rightmost 
-  angleCalib = {-90,    0,   ​90}, ​       
-  pulseCalib = {500, 1500, 2200} 
-} 
- 
-sensor{ 
-  name = "​sharp",​ 
-  controller = "​ssc32",​ 
-  plugID = 3 
-} 
- 
-sensorcontrol{ 
-  type = "​turretrangefinder", ​     ​ 
-  name = "​sweepingIR",​ 
-  servo = "​tower", ​               ​ 
-  sensor = "​sharp"​ 
-} 
- 
-robot{ 
-  name = "​HBot",​ 
-  controller = "​ssc32", ​                 ​ 
-  type = "​wheeledrobot",​ 
-  left = "​leftwheel",​ 
-  right = "​rightwheel",​ 
--- calibration settings for rotation; CW stands for clockwise rotation speed, CCW for 
--- counterclockwise;​ speed is given in degrees per seconds 
-  angularspeed = {CW = 45, CCW = 40} 
-} 
-</​code>​ 
- 
- 
-=== Player/​Stage simulated robot === 
  
 
configuration_control.txt ยท Last modified: 2009/03/02 11:49 by hadrien
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