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robots:armadillo:software

Armadillo Scout Software

For information on installation see Install MobotWare, Install MobotWare, FroboMind Installation.

Control Software

RTAI

See RTAI and MobotWare on how to install RTAI on FroboBox.

When the installation is complete we will put an image of the installation on this page

MobotWare

Configuration file

FIXME - This file is not updated with the lastest constant calculations

robot.conf
<?xml version="1.0" ?>
 
<!--
Configuration file for SMRdemo
This file is for the SMR
 
Robot types
differential, ackerman
 
Name
smr, mmr, ackerbot, hako, armadillo
-->
 
<robotinfo
  type="differential"
  name="armadillo"
>
   <debug/>
   <speak  />
 
 
   <odometry
    cl		="0.00312"
    cr		="0.00312"
    w		="1.31"
    ts		="0.01"   
    maxtick	="1000"
    control	="0"
   />
 
   <motioncontrol
    ts  	="0.01"
    line_gain	="0.05"
    line_tau 	="10"
    line_alfa	="0.3"
    wall_gain	="1"
    wall_tau	="0.7"
    wall_alfa	="0.2"
    drive_kdist	="4.8"
    drive_kangle="2.25"
    kp		="10"
    gain	="1"
    tau		="0.16"
    alfa	="0.2"
    w		="0.26"
    lim 	="0.2"
    stopdist	="0.18"
    alarmdist	="0.1"
    velcmd	="0.3"
    acccmd	="0.3"
    nolinedist	="0.2"
   />
 
   <motorcontrol
    velscalel	= "100"
    velscaler	="100"
    kp		="66"
    ki		="10"
   />  
 
   <filter
   type="EKF"
   run="1"
   use="0"  
 
   size_input="2"
   size_state="3"
   size_noise_process="2"
 
   size_output="2"
   size_noise_output="2"
 
   measurementnoise_std_x="0.1" 
   measurementnoise_std_y="0.11"
   processnoise_std_stearingangle="0.01" 
   processnoise_std_dist="0.02" 
   >
      <matrix name="A" size="3 3" type="double">
         1 2 3
         4 5 6
         7 8 9
      </matrix>
      <matrix name="B" size="3 3" type="double">
         12 22 32
         42 52 62
         72 82 92
      </matrix>
      <matrix name="C" size="3 3" type="double">
         14 24 34
         44 54 64
         74 84 94
      </matrix>
   </filter>
 
</robotinfo>

FroboMind

Launchfile

robots/armadillo/software.txt · Last modified: 2012/10/09 16:28 by claes