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License: GNU Lesser General Public License v3.0
====================================================================== RTComponent: CrawlerController specificatioin OpenRTM-aist-1.0.0 Date: $Date$ LGPL This file is generated by rtc-template with the following argments. # rtc-template -bcxx --module-name=CrawlerController # --module-desc='Crawler Controller' --module-version=1.0.0 --module-vendor=Miyamoto Nobuhiko # --module-category=Crawler --module-comp-type=STATIC # --module-act-type=PERIODIC --module-max-inst=1 # --config=gyroSensor:int:1 --config=FrontRangeSensor:int:1 --config=BackRangeSensor:int:1 --config=AccelerationSensor:int:1 --config=MagneticSensor:int:1 --config=bias:double:1.0 --config=frontDistance:double:0.5 --config=backDistance:double:0.1 --config=filter:double:0.05 --config=rotOffset:double:0.5 --config=rotCorVal:double:15 --config=mr:double:0.2 --config=ar:double:0.2 --config=gr:double:1.0 # --inport=acc:RTC::TimedAcceleration3D --inport=magn:RTC::TimedDoubleSeq --inport=gyro:RTC::TimedAngularVelocity3D --inport=range0:RTC::TimedDouble --inport=range1:RTC::TimedDouble --inport=range2:RTC::TimedDouble --inport=range3:RTC::TimedDouble --inport=in0:RTC::TimedDouble --inport=in1:RTC::TimedDouble --outport=pos:RTC::TimedPose2D ====================================================================== Basic Information ====================================================================== # <rtc-template block="module"> Module Name: CrawlerController Description: Crawler Controller Version: 1.0.0 Vendor: Miyamoto Nobuhiko Category: Crawler Kind: DataFlowComponent Comp. Type: STATIC Act. Type: PERIODIC MAX Inst.: 1 Lang: C++ Lang Type: Overview: クローラー制御RTコンポーネント # </rtc-template> ====================================================================== Activity definition ====================================================================== [on_initialize] implemented [on_finalize] implemented [on_startup] implemented [on_shutdown] implemented [on_activated] implemented [on_deactivated] implemented [on_execute] implemented [on_aborting] implemented [on_error] implemented [on_reset] implemented [on_state_update] implemented [on_rate_changed] implemented ====================================================================== InPorts definition ====================================================================== # <rtc-template block="inport"> Name: acc PortNumber: 0 Description: 加速度センサの計測値 PortType: DataType: RTC::TimedAcceleration3D MaxOut: [Data Elements] Name: Type: RTC::TimedAcceleration3D Number: Semantics: Unit: m/s^2 Frequency: Operation Cycle: RangeLow: RangeHigh: DefaultValue: Name: magn PortNumber: 1 Description: 地磁気センサの計測値 PortType: DataType: RTC::TimedDoubleSeq MaxOut: [Data Elements] Name: Type: RTC::TimedDoubleSeq Number: Semantics: Unit: mG Frequency: Operation Cycle: RangeLow: RangeHigh: DefaultValue: Name: gyro PortNumber: 2 Description: 角速度センサの計測値 PortType: DataType: RTC::TimedAngularVelocity3D MaxOut: [Data Elements] Name: Type: RTC::TimedAngularVelocity3D Number: Semantics: Unit: rad/s Frequency: Operation Cycle: RangeLow: RangeHigh: DefaultValue: Name: range0 PortNumber: 3 Description: 距離センサ(右前)の計測値 PortType: DataType: RTC::TimedDouble MaxOut: [Data Elements] Name: Type: RTC::TimedDouble Number: Semantics: Unit: m Frequency: Operation Cycle: RangeLow: RangeHigh: DefaultValue: Name: range1 PortNumber: 4 Description: 距離センサ(左前)の計測値 PortType: DataType: RTC::TimedDouble MaxOut: [Data Elements] Name: Type: RTC::TimedDouble Number: Semantics: Unit: m Frequency: Operation Cycle: RangeLow: RangeHigh: DefaultValue: Name: range2 PortNumber: 5 Description: 距離センサ(右後)の計測値 PortType: DataType: RTC::TimedDouble MaxOut: [Data Elements] Name: Type: RTC::TimedDouble Number: Semantics: Unit: m Frequency: Operation Cycle: RangeLow: RangeHigh: DefaultValue: Name: range3 PortNumber: 6 Description: 距離センサ(左後)の計測値 PortType: DataType: RTC::TimedDouble MaxOut: [Data Elements] Name: Type: RTC::TimedDouble Number: Semantics: Unit: m Frequency: Operation Cycle: RangeLow: RangeHigh: DefaultValue: Name: in0 PortNumber: 7 Description: 左モーターへ入力する電圧のPWMデューティー比 距離センサによる回避**をする場合はこの入力値を補正 する PortType: DataType: RTC::TimedDouble MaxOut: [Data Elements] Name: Type: RTC::TimedDouble Number: Semantics: Unit: Frequency: Operation Cycle: RangeLow: RangeHigh: DefaultValue: Name: in1 PortNumber: 8 Description: 右モーターへ入力する電圧のPWMデューティー比 距離センサによる回避**をする場合はこの入力値を補正 する PortType: DataType: RTC::TimedDouble MaxOut: [Data Elements] Name: Type: RTC::TimedDouble Number: Semantics: Unit: Frequency: Operation Cycle: RangeLow: RangeHigh: DefaultValue: # </rtc-template> ====================================================================== OutPorts definition ====================================================================== # <rtc-template block="outport"> Name: pos PortNumber: 0 Description: センサ情報から計算した現在位置、姿勢(位置の計測は実 装できていないので左右モーターの電圧が正の場合は前進 、負の場合は後退するようにしてある) PortType: DataType: RTC::TimedPose2D MaxOut: [Data Elements] Name: Type: RTC::TimedPose2D Number: Semantics: Unit: m,rad Frequency: Operation Cycle: RangeLow: RangeHigh: DefaultValue: # </rtc-template> ====================================================================== Service Port definition ====================================================================== # <rtc-template block="serviceport"> # </rtc-template> ====================================================================== Configuration definition ====================================================================== # <rtc-template block="configuration"> Configuration: Name: gyroSensor gyroSensor Description: 1の時はジャイロセンサを使用する Type: int DefaultValue: 1 1 Unit: Range: Constraint: Name: FrontRangeSensor FrontRangeSensor Description: 1の時は前方に取り付けた距離センサを使用する Type: int DefaultValue: 1 1 Unit: Range: Constraint: (0,1) Name: BackRangeSensor BackRangeSensor Description: 1の時は後方に取り付けた距離センサを使用する Type: int DefaultValue: 1 1 Unit: Range: Constraint: (0,1) Name: AccelerationSensor AccelerationSensor Description: 1の時は加速度センサを使用する Type: int DefaultValue: 1 1 Unit: Range: Constraint: (0,1) Name: MagneticSensor MagneticSensor Description: 1の時は地磁気センサを使用する Type: int DefaultValue: 1 1 Unit: Range: Constraint: (0,1) Name: bias bias Description: 障害物が近づいた場合にどの程度旋回を行うか?値 が大きくなるほど旋回しやすくなります。 Type: double DefaultValue: 1.0 1.0 Unit: Range: Constraint: Name: frontDistance frontDistance Description: 回避**を開始する障害物までの最長距離 Type: double DefaultValue: 0.5 0.5 Unit: Range: Constraint: Name: backDistance backDistance Description: 回避**を開始する障害物までの最短距離。この値 より近い距離に障害物があっても回避**を行いま せん Type: double DefaultValue: 0.1 0.1 Unit: Range: Constraint: Name: filter filter Description: この値が大きいほど余分な回避**が小さくなりま す。 Type: double DefaultValue: 0.05 0.05 Unit: Range: Constraint: Name: rotOffset rotOffset Description: センサの計測値から計算した姿勢角へのオフセット Type: double DefaultValue: 0.5 0.5 Unit: Range: Constraint: Name: rotCorVal rotCorVal Description: 直進する際に真っ直ぐに動くように計測した姿勢の 変化した方向に抗う方向に回転する補正をかけるよ うにしています。このパラメータは姿勢の変化量に かける係数です。 Type: double DefaultValue: 15 15 Unit: Range: Constraint: Name: mr mr Description: 地磁気センサの計測値でのIIRフィルタの係数 Type: double DefaultValue: 0.2 0.2 Unit: Range: Constraint: 0<=x<=1.0 Name: ar ar Description: 加速度センサの計測値でのIIRフィルタの係数 Type: double DefaultValue: 0.2 0.2 Unit: Range: Constraint: 0<=x<=1.0 Name: gr gr Description: ジャイロセンサの計測値でのIIRフィルタの係数 Type: double DefaultValue: 1.0 1.0 Unit: Range: Constraint: 0<=x<=1.0 # </rtc-template> This software is developed at the National Institute of Advanced Industrial Science and Technology. Approval number H23PRO-????. This software is licensed under the Lesser General Public License. See COPYING.LESSER. This area is reserved for future OpenRTM.
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