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robots:armadillo:software
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robots:armadillo:software [2012/03/16 14:36] claes [Configuration file] |
robots:armadillo:software [2021/08/14 04:21] |
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| - | ====== Armadillo Scout Software ====== | ||
| - | === Control Software === | ||
| - | * MobotWare | ||
| - | * FroboMind | ||
| - | |||
| - | ===== MobotWare ===== | ||
| - | ==== Calculation of odometri constants ==== | ||
| - | $C_{Belt}=3, | ||
| - | |||
| - | $cr=cl=\frac{C_{Belt}}{maxtick}=\frac{3.12}{1000}=0.00312$ | ||
| - | |||
| - | |||
| - | |||
| - | |||
| - | |||
| - | ==== Configuration file ==== | ||
| - | |||
| - | <file xml robot.conf> | ||
| - | <?xml version=" | ||
| - | |||
| - | <!-- | ||
| - | Configuration file for SMRdemo | ||
| - | This file is for the SMR | ||
| - | |||
| - | Robot types | ||
| - | differential, | ||
| - | |||
| - | Name | ||
| - | smr, mmr, ackerbot, hako, armadillo | ||
| - | --> | ||
| - | |||
| - | < | ||
| - | type=" | ||
| - | name=" | ||
| - | > | ||
| - | < | ||
| - | < | ||
| - | |||
| - | |||
| - | < | ||
| - | cl =" | ||
| - | cr =" | ||
| - | w =" | ||
| - | ts =" | ||
| - | maxtick =" | ||
| - | control =" | ||
| - | /> | ||
| - | |||
| - | < | ||
| - | ts =" | ||
| - | line_gain =" | ||
| - | line_tau =" | ||
| - | line_alfa =" | ||
| - | wall_gain =" | ||
| - | wall_tau =" | ||
| - | wall_alfa =" | ||
| - | drive_kdist =" | ||
| - | drive_kangle=" | ||
| - | kp =" | ||
| - | gain =" | ||
| - | tau =" | ||
| - | alfa =" | ||
| - | w =" | ||
| - | lim =" | ||
| - | stopdist =" | ||
| - | alarmdist =" | ||
| - | velcmd =" | ||
| - | acccmd =" | ||
| - | nolinedist =" | ||
| - | /> | ||
| - | |||
| - | < | ||
| - | velscalel = " | ||
| - | velscaler =" | ||
| - | kp =" | ||
| - | ki =" | ||
| - | /> | ||
| - | |||
| - | < | ||
| - | | ||
| - | | ||
| - | | ||
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| - | | ||
| - | | ||
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| - | |||
| - | | ||
| - | | ||
| - | |||
| - | | ||
| - | | ||
| - | | ||
| - | | ||
| - | > | ||
| - | <matrix name=" | ||
| - | 1 2 3 | ||
| - | 4 5 6 | ||
| - | 7 8 9 | ||
| - | </ | ||
| - | <matrix name=" | ||
| - | 12 22 32 | ||
| - | 42 52 62 | ||
| - | 72 82 92 | ||
| - | </ | ||
| - | <matrix name=" | ||
| - | 14 24 34 | ||
| - | 44 54 64 | ||
| - | 74 84 94 | ||
| - | </ | ||
| - | </ | ||
| - | |||
| - | </ | ||
| - | </ | ||
robots/armadillo/software.txt · Last modified: 2021/08/14 04:21 (external edit)
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