WheelChairDriver

From CAS-Robotics

Contents 1 WheelChair Player/Stage Driver 1.1 Download 1.2 Compilation 1.3 Usage

WheelChair Player/Stage Driver

• This is the New Version of Wheelchair Control Driver for Player
• This Driver support the following Functions:

1- Beeping the HORN.
2- Checking and Setting the control mode (Manual or Automatic).
3- Changing the Gear.
4- Activating the Motors with a certain Speed and TurnRate (Velocity Control Thread).
5- Turns the WheelChair ON and OFF.

Download

• Download Driver

Compilation

To compile the driver successfully, you should:

• Have pk-config pointing correctly to the player/stage.
• Use the make file script to compile the driver and generate the shared object "WheelchairDriver.so"

make

To install:

• Copy WheelchairDriver.so to /usr/local/lib/ or
• Create a symbolic link where you're running your configuration file

ln -s WheelchairDriver_PATH/WheelchairDriver.so

where WheelchairDriver_PATH is the path where the WheelchairDriver driver was compiled

Usage

Just add the following section to your configuration:

driver
(
  name "WheelchairDriver"
  provides ["position:0" "opaque:0"]
  plugin "WheelchairDriver.so"
  Left_Encoder_Port "/dev/ttyUSB1"
  Right_Encoder_Port "/dev/ttyUSB0"
  Serial_Port "/dev/ttyS0"
  Encoder_Baud_Rate "B9600"
)