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crawlercontroller's Introduction

======================================================================
  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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