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README.ControlEducatorVehicle
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README.ControlEducatorVehicle
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======================================================================
RTComponent: ControlEducatorVehicle specificatioin
OpenRTM-aist-1.0.0
Date: $Date$
@author 宮本 信彦 n-miyamoto@aist.go.jp
産業技術総合研究所 ロボットイノベーション研究センター
ロボットソフトウエアプラットフォーム研究チーム
LGPL
This file is generated by rtc-template with the following argments.
# rtc-template -bcxx --module-name=ControlEducatorVehicle
# --module-desc='Control Educator Vehicle' --module-version=1.0.0 --module-vendor=AIST
# --module-category=Controller --module-comp-type=STATIC
# --module-act-type=PERIODIC --module-max-inst=1
# --config=sensor_height:double:0.20 --config=back_speed:double:0.1 --config=back_time:double:1.0 --config=rotate_speed:double:0.8 --config=rotate_time:double:2.0 --config=medium_motor_range:double:1.6 --config=medium_motor_speed:double:0.6
# --inport=target_velocity_in:RTC::TimedVelocity2D --inport=current_pose:RTC::TimedPose2D --inport=ultrasonic:RTC::RangeData --inport=touch:RTC::TimedBooleanSeq --inport=light_reflect:RTC::TimedDouble --outport=target_velocity_out:RTC::TimedVelocity2D --outport=angle:RTC::TimedDouble
======================================================================
Basic Information
======================================================================
# <rtc-template block="module">
Module Name: ControlEducatorVehicle
Description: Control Educator Vehicle
Version: 1.0.0
Vendor: AIST
Category: Controller
Kind: DataFlowComponent
Comp. Type: STATIC
Act. Type: PERIODIC
MAX Inst.: 1
Lang: C++
Lang Type:
Overview: EV3のEducator
Vehicleで障害物の回避、滑落の回避をするためのRTCです。
# </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: target_velocity_in
PortNumber: 0
Description: 目標速度
PortType:
DataType: RTC::TimedVelocity2D
MaxOut:
[Data Elements]
Name:
Type: RTC::TimedVelocity2D
Number:
Semantics:
Unit: m/s, rad/s
Frequency:
Operation Cycle:
RangeLow:
RangeHigh:
DefaultValue:
Name: current_pose
PortNumber: 1
Description: 現在の位置・姿勢（角度） (x, y, θ)
PortType:
DataType: RTC::TimedPose2D
MaxOut:
[Data Elements]
Name:
Type: RTC::TimedPose2D
Number:
Semantics:
Unit: m、rad
Frequency:
Operation Cycle:
RangeLow:
RangeHigh:
DefaultValue:
Name: ultrasonic
PortNumber: 2
Description: 超音波センサをレンジセンサと仮定し、要素1の距離デー
タを格納
PortType:
DataType: RTC::RangeData
MaxOut:
[Data Elements]
Name:
Type: RTC::RangeData
Number:
Semantics:
Unit: m
Frequency:
Operation Cycle:
RangeLow:
RangeHigh:
DefaultValue:
Name: touch
PortNumber: 3
Description: タッチセンサの値をBoolean[2] で出力
0番目が右で1番目が左
PortType:
DataType: RTC::TimedBooleanSeq
MaxOut:
[Data Elements]
Name:
Type: RTC::TimedBooleanSeq
Number: 2
Semantics:
Unit:
Frequency:
Operation Cycle:
RangeLow:
RangeHigh:
DefaultValue:
Name: light_reflect
PortNumber: 4
Description: 反射光の強さ
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: target_velocity_out
PortNumber: 0
Description: 補正後の目標速度
PortType:
DataType: RTC::TimedVelocity2D
MaxOut:
[Data Elements]
Name:
Type: RTC::TimedVelocity2D
Number:
Semantics:
Unit: m/s, rad/s
Frequency:
Operation Cycle:
RangeLow:
RangeHigh:
DefaultValue:
Name: angle
PortNumber: 1
Description: モーターMの角度
PortType:
DataType: RTC::TimedDouble
MaxOut:
[Data Elements]
Name:
Type: RTC::TimedDouble
Number:
Semantics:
Unit: 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: sensor_height sensor_height
Description: 走行できる地面があると判定する超音波センサの計
測値
Type: double
DefaultValue: 0.20 0.20
Unit: m
Range:
Constraint:
Name: back_speed back_speed
Description: 後退運動をする速さ
Type: double
DefaultValue: 0.1 0.1
Unit: m/s
Range:
Constraint:
Name: back_time back_time
Description: 後退運動する時間
Type: double
DefaultValue: 0.5 1.0
Unit: s
Range:
Constraint:
Name: rotate_speed rotate_speed
Description: 回転運動する速さ
Type: double
DefaultValue: 1.6 0.8
Unit:
Range:
Constraint:
Name: rotate_time rotate_time
Description: 回転運動する時間
Type: double
DefaultValue: 0.5 2.0
Unit: s
Range:
Constraint:
Name: medium_motor_range medium_motor_range
Description: Mモーターの動作範囲
Type: double
DefaultValue: 1.0 1.6
Unit: rad
Range:
Constraint: 0 < x < 3.14
Name: medium_motor_speed medium_motor_speed
Description: Mモーターの速度
Type: double
DefaultValue: 0.6 0.6
Unit: rad/s
Range:
Constraint:
# </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.