javaclient
Class Position2DInterface

java.lang.Object
  javaclient.PlayerDevice
      javaclient.AbstractPositionDevice
          javaclient.Position2DInterface

public class Position2DInterface
extends AbstractPositionDevice

The position2d interface is used to control a planar mobile robot base. This interface is the same as the position interface, but uses different units (e.g., mrad instead of deg). The position2d interface will probably replace the position interface (eventually).

Version:

• v1.6.3 - Player 1.6.3 (all interfaces) supported
• v1.6.2 - Player 1.6.2 supported, Javadoc documentation, several bugfixes

Author:

Radu Bogdan Rusu

Field Summary

protected short	PLAYER_POSITION_RMP_RST_INT_FOREAFT
protected short	PLAYER_POSITION_RMP_RST_INT_LEFT
protected short	PLAYER_POSITION_RMP_RST_INT_RIGHT
protected short	PLAYER_POSITION_RMP_RST_INT_YAW
protected short	PLAYER_POSITION2D_GET_GEOM_REQ
protected short	PLAYER_POSITION2D_MOTOR_POWER_REQ
protected short	PLAYER_POSITION2D_POSITION_MODE_REQ
protected short	PLAYER_POSITION2D_POSITION_PID_REQ
protected short	PLAYER_POSITION2D_RESET_ODOM_REQ
protected short	PLAYER_POSITION2D_RMP_ACCEL_SCALE
protected short	PLAYER_POSITION2D_RMP_CURRENT_LIMIT
protected short	PLAYER_POSITION2D_RMP_GAIN_SCHEDULE
protected short	PLAYER_POSITION2D_RMP_RST_INTEGRATORS
protected short	PLAYER_POSITION2D_RMP_SHUTDOWN
protected short	PLAYER_POSITION2D_RMP_TURN_SCALE
protected short	PLAYER_POSITION2D_RMP_VELOCITY_SCALE
protected short	PLAYER_POSITION2D_SET_ODOM_REQ
protected short	PLAYER_POSITION2D_SPEED_PID_REQ
protected short	PLAYER_POSITION2D_SPEED_PROF_REQ
protected short	PLAYER_POSITION2D_VELOCITY_MODE_REQ

Fields inherited from class javaclient.PlayerDevice

device, DIFFERENCE_SYNCH_FACTOR, index, is, os, pc, PLAYER_MAX_REQREP_SIZE, PLAYER_STXX, reserved, size, t_sec, t_usec, ts_sec, ts_usec

Constructor Summary

Position2DInterface(PlayerClient pc, short indexOfDevice)
Constructor for Position2DInterface.

Method Summary

PlayerPosition2DGeomT	getGeom() Get the geometry data.
byte	getStall() Get motors status.
int	getX() Get X position in mm.
int	getXSpeed() Get X translational velocity in mm/sec.
int	getY() Get Y position in mm.
int	getYaw() Get Heading in mrad.
int	getYawSpeed() Get angular velocity in mrad/sec.
int	getYSpeed() Get Y translational velocity in mm/sec.
void	handleEARMessage() Handle Error Acknowledgement Response messages.
void	handleNARMessage() Handle Negative Acknowledgement Response messages.
void	handleResponse(int size) Handle acknowledgement response messages (threaded mode).
boolean	isGeomReady() Check if geometry data is available.
void	queryGeometry() Configuration request: Query geometry.
void	readData() Read the position data values (xPos, yPos, yaw, xSpeed, ySpeed, yawSpeed, stalls).
void	resetOdometry() Configuration request: Reset odometry.
void	setControlMode(int mode) Configuration request: Change position control.
void	setMotorPower(int state) Configuration request: Motor power.
void	setOdometry(int xT, int yT, int theta) Configuration request: Set odometry.
void	setPosition(int xP, int yP, int yawT) Send position commands.
void	setPosition(int xP, int yP, int yawT, int xS, int yS, int yawS, byte state, byte type) The position interface accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control or both).
void	setPositionPIDParams(int kp, int ki, int kd) Configuration request: Set position PID parameters.
void	setSpeed(int speed, int turnrate) Set speed and turnrate.
void	setSpeed(int speed, int turnrate, int sideSpeed) Set speed, turnrate and sideSpeed.
void	setSpeedProfileParams(int sp, int acc) Configuration request: Set speed profile parameters.
void	setVelocityControl(byte mode) Configuration request: Change velocity control.
void	setVelocityPIDParams(int kp, int ki, int kd) Configuration request: Set velocity PID parameters.

Methods inherited from class javaclient.PlayerDevice

getTimeForDataSampled_sec, getTimeForDataSampled_usec, getTimeForDataSampled, getTimeForDataSent_sec, getTimeForDataSent_usec, getTimeForDataSent, readHeader, sendHeader

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

PLAYER_POSITION2D_GET_GEOM_REQ

protected final short PLAYER_POSITION2D_GET_GEOM_REQ

See Also:

Constant Field Values

PLAYER_POSITION2D_MOTOR_POWER_REQ

protected final short PLAYER_POSITION2D_MOTOR_POWER_REQ

See Also:

Constant Field Values

PLAYER_POSITION2D_VELOCITY_MODE_REQ

protected final short PLAYER_POSITION2D_VELOCITY_MODE_REQ

See Also:

Constant Field Values

PLAYER_POSITION2D_RESET_ODOM_REQ

protected final short PLAYER_POSITION2D_RESET_ODOM_REQ

See Also:

Constant Field Values

PLAYER_POSITION2D_POSITION_MODE_REQ

protected final short PLAYER_POSITION2D_POSITION_MODE_REQ

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Constant Field Values

PLAYER_POSITION2D_SPEED_PID_REQ

protected final short PLAYER_POSITION2D_SPEED_PID_REQ

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Constant Field Values

PLAYER_POSITION2D_POSITION_PID_REQ

protected final short PLAYER_POSITION2D_POSITION_PID_REQ

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Constant Field Values

PLAYER_POSITION2D_SPEED_PROF_REQ

protected final short PLAYER_POSITION2D_SPEED_PROF_REQ

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Constant Field Values

PLAYER_POSITION2D_SET_ODOM_REQ

protected final short PLAYER_POSITION2D_SET_ODOM_REQ

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Constant Field Values

PLAYER_POSITION2D_RMP_VELOCITY_SCALE

protected final short PLAYER_POSITION2D_RMP_VELOCITY_SCALE

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Constant Field Values

PLAYER_POSITION2D_RMP_ACCEL_SCALE

protected final short PLAYER_POSITION2D_RMP_ACCEL_SCALE

See Also:

Constant Field Values

PLAYER_POSITION2D_RMP_TURN_SCALE

protected final short PLAYER_POSITION2D_RMP_TURN_SCALE

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Constant Field Values

PLAYER_POSITION2D_RMP_GAIN_SCHEDULE

protected final short PLAYER_POSITION2D_RMP_GAIN_SCHEDULE

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Constant Field Values

PLAYER_POSITION2D_RMP_CURRENT_LIMIT

protected final short PLAYER_POSITION2D_RMP_CURRENT_LIMIT

See Also:

Constant Field Values

PLAYER_POSITION2D_RMP_RST_INTEGRATORS

protected final short PLAYER_POSITION2D_RMP_RST_INTEGRATORS

See Also:

Constant Field Values

PLAYER_POSITION2D_RMP_SHUTDOWN

protected final short PLAYER_POSITION2D_RMP_SHUTDOWN

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Constant Field Values

PLAYER_POSITION_RMP_RST_INT_RIGHT

protected final short PLAYER_POSITION_RMP_RST_INT_RIGHT

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Constant Field Values

PLAYER_POSITION_RMP_RST_INT_LEFT

protected final short PLAYER_POSITION_RMP_RST_INT_LEFT

See Also:

Constant Field Values

PLAYER_POSITION_RMP_RST_INT_YAW

protected final short PLAYER_POSITION_RMP_RST_INT_YAW

See Also:

Constant Field Values

PLAYER_POSITION_RMP_RST_INT_FOREAFT

protected final short PLAYER_POSITION_RMP_RST_INT_FOREAFT

See Also:

Constant Field Values

Constructor Detail

Position2DInterface

public Position2DInterface(PlayerClient pc,
                           short indexOfDevice)

Constructor for Position2DInterface.

Parameters:

pc - a reference to the PlayerClient object

indexOfDevice - the index of the device

Method Detail

readData

public void readData()

Read the position data values (xPos, yPos, yaw, xSpeed, ySpeed, yawSpeed, stalls).

Overrides:

readData in class PlayerDevice

getX

public int getX()

Get X position in mm.

Specified by:

getX in class AbstractPositionDevice

Returns:

X position in mm

getY

public int getY()

Get Y position in mm.

Specified by:

getY in class AbstractPositionDevice

Returns:

Y position in mm

getYaw

public int getYaw()

Get Heading in mrad.

Specified by:

getYaw in class AbstractPositionDevice

Returns:

heading in mrad

getStall

public byte getStall()

Get motors status.

Returns:

stalled or not?

getXSpeed

public int getXSpeed()

Get X translational velocity in mm/sec.

Returns:

X translational velocity in mm/sec

getYSpeed

public int getYSpeed()

Get Y translational velocity in mm/sec.

Returns:

Y translational velocity in mm/sec

getYawSpeed

public int getYawSpeed()

Get angular velocity in mrad/sec.

Returns:

angular velocity in mrad/sec

setPosition

public void setPosition(int xP,
                        int yP,
                        int yawT,
                        int xS,
                        int yS,
                        int yawS,
                        byte state,
                        byte type)

The position interface accepts new positions and/or velocities for the robot's motors (drivers may support position control, speed control or both).

See the player_position2d_cmd structure from player.h

Parameters:

xP - X position2d in mm

yP - Y position2d in mm

yawT - Yaw in mrad

xS - X translational velocity in mm/sec

yS - Y translational velocity in mm/sec

yawS - angular velocity in mrad/sec

state - motor state (zero is either off or locked, depending on the driver)

type - command type; 0 = velocity, 1 = position

setPosition

public void setPosition(int xP,
                        int yP,
                        int yawT)

Send position commands.

Parameters:

xP - X position in mm

yP - Y position in mm

yawT - Yaw in mrad

setSpeed

public void setSpeed(int speed,
                     int turnrate)

Set speed and turnrate.

Specified by:

setSpeed in class AbstractPositionDevice

Parameters:

speed - X translational velocity in mm/sec

turnrate - angular velocity in mrad/sec

setSpeed

public void setSpeed(int speed,
                     int turnrate,
                     int sideSpeed)

Set speed, turnrate and sideSpeed.

Parameters:

speed - X translational velocity in mm/sec

turnrate - angular velocity in mrad/sec

sideSpeed - Y translational velocity in mm/sec

queryGeometry

public void queryGeometry()

Configuration request: Query geometry.

isGeomReady

public boolean isGeomReady()

Check if geometry data is available.

Returns:

true if ready, false if not ready

getGeom

public PlayerPosition2DGeomT getGeom()

Get the geometry data.

Returns:

an object of type PlayerPosition2DGeomT containing the required geometry data

handleResponse

public void handleResponse(int size)

Handle acknowledgement response messages (threaded mode).

Overrides:

handleResponse in class PlayerDevice

Parameters:

size - size of the payload

setMotorPower

public void setMotorPower(int state)

Configuration request: Motor power.

On some robots, the motor power can be turned on and off from software.

Be VERY careful with this command! You are very likely to start the robot running across the room at high speed with the battery charger still attached.

Parameters:

state - 0 for off, 1 for on

setVelocityControl

public void setVelocityControl(byte mode)

Configuration request: Change velocity control.

Some robots offer different velocity control modes.

The p2os driver offers two modes of velocity control: separate translational and rotational control and direct wheel control. When in the separate mode, the robot's microcontroller internally computes left and right wheel velocities based on the currently commanded translational and rotational velocities and then attenuates these values to match a nice predefined acceleration profile. When in the direct mode, the microcontroller simply passes on the current left and right wheel velocities. Essentially, the separate mode offers smoother but slower (lower acceleration) control, and the direct mode offers faster but jerkier (higher acceleration) control. Player's default is to use the direct mode. Set mode to zero for direct control and non-zero for separate control.

For the reb driver, 0 is direct velocity control, 1 is for velocity-based heading PD controller.

Parameters:

mode - driver-specific mode

resetOdometry

public void resetOdometry()

Configuration request: Reset odometry.

Resets the robot's odometry to (x,y,theta) = (0,0,0).

setControlMode

public void setControlMode(int mode)

Configuration request: Change position control.

Parameters:

mode - 0 for velocity mode, 1 for position mode

setOdometry

public void setOdometry(int xT,
                        int yT,
                        int theta)

Configuration request: Set odometry.

Parameters:

xT - X in mm

yT - Y in mm

theta - Heading in mrad

setVelocityPIDParams

public void setVelocityPIDParams(int kp,
                                 int ki,
                                 int kd)

Configuration request: Set velocity PID parameters.

Parameters:

kp - P parameter

ki - I parameter

kd - D parameter

setPositionPIDParams

public void setPositionPIDParams(int kp,
                                 int ki,
                                 int kd)

Configuration request: Set position PID parameters.

Parameters:

kp - P parameter

ki - I parameter

kd - D parameter

setSpeedProfileParams

public void setSpeedProfileParams(int sp,
                                  int acc)

Configuration request: Set speed profile parameters.

Parameters:

sp - max speed

acc - max acceleration

handleNARMessage

public void handleNARMessage()

Handle Negative Acknowledgement Response messages.

Overrides:

handleNARMessage in class PlayerDevice

handleEARMessage

public void handleEARMessage()

Handle Error Acknowledgement Response messages.

Overrides:

handleEARMessage in class PlayerDevice