roboclaw_params.c
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/****************************************************************************
*
* Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file roboclaw_params.c
*
* Parameters defined by the Roboclaw driver.
*
* The Roboclaw will need to be configured to match these parameters. For information about configuring the
* Roboclaw, see http://downloads.ionmc.com/docs/roboclaw_user_manual.pdf
*
* @author Timothy Scott <timothy@auterion.com>
*/
/**
* Uart write period
*
* How long to wait, in Milliseconds, between writing actuator controls over Uart to the Roboclaw
* @unit ms
* @min 1
* @max 1000
* @group Roboclaw driver
*/
PARAM_DEFINE_INT32(RBCLW_WRITE_PER, 10);
/**
* Encoder read period
*
* How long to wait, in Milliseconds, between reading wheel encoder values over Uart from the Roboclaw
* @unit ms
* @min 1
* @max 1000
* @group Roboclaw driver
*/
PARAM_DEFINE_INT32(RBCLW_READ_PER, 10);
/**
* Encoder counts per revolution
*
* Number of encoder counts for one revolution. The roboclaw treats analog encoders (potentiometers) as having 2047
* counts per rev. The default value of 1200 corresponds to the default configuration of the Aion R1 rover.
* @min 1
* @group Roboclaw driver
*/
PARAM_DEFINE_INT32(RBCLW_COUNTS_REV, 1200);
/**
* Address of the Roboclaw
*
* The Roboclaw can be configured to have an address from 0x80 to 0x87, inclusive. It must be configured to match
* this parameter.
* @min 128
* @max 135
* @value 128 0x80
* @value 129 0x81
* @value 130 0x82
* @value 131 0x83
* @value 132 0x84
* @value 133 0x85
* @value 134 0x86
* @value 135 0x87
* @group Roboclaw driver
*/
PARAM_DEFINE_INT32(RBCLW_ADDRESS, 128);
/**
* Roboclaw serial baud rate
*
* Baud rate of the serial communication with the Roboclaw. The Roboclaw must be configured to match this rate.
* @min 2400
* @max 460800
* @value 2400 2400 baud
* @value 9600 9600 baud
* @value 19200 19200 baud
* @value 38400 38400 baud
* @value 57600 57600 baud
* @value 115200 115200 baud
* @value 230400 230400 baud
* @value 460800 460800 baud
* @group Roboclaw driver
* @reboot_required true
*/
PARAM_DEFINE_INT32(RBCLW_BAUD, 2400);