men
[Drivers]

The men driver implements low level I/O control through Player for devices equipped with the following arrangement of I/O cards by MEN.

M33 : 8 channel DAC
M34 : 16 channel ADC
M66 : 32 channel DIO
2 x M72 : 4 channel encoder

Provides

motor : 8 interfaces to motors
aio : 1 interfaces to the ADC channels
- currently only supports 1 interface of 8 channels
dio : 1 interface to the DIO.
- 16 channel input
- 16 channel output

Requires

Nothing.

Configuration requests

motor
- PLAYER_MOTOR_SET_ODOM_REQ :
- PLAYER_MOTOR_RESET_ODOM_REQ :
- PLAYER_MOTOR_POWER_REQ :
- PLAYER_MOTOR_POSITION_MODE_REQ :
- PLAYER_MOTOR_SPEED_PID_REQ :
- PLAYER_MOTOR_POSITION_PID_REQ :
- PLAYER_MOTOR_SPEED_PROF_REQ :
aio
- none
dio
- none

Configuration file options

Motor settings : Since we have multiple motors, you need to append the motor id to the configuration option in place of the x.

gear_ratio_x (int)
- Default: 0
- Gear ration:1
encoder_count_x (int)
- Default: 0
- Number of encoder tics per rotation
position_mode_x (int)
- Default: 0
- Are we controlling the motors in position or velocity mode to start with 0 = VELOCITY, 1 = POSITION
enabled_x (0)
- Default: 0
- Are the motors enabled initially?
velocity_kp_x (float)
- Default: 0
- Default velocity PID parameters
velocity_ki_x (float)
- Default: 0
- Default velocity PID parameters
velocity_kd_x (float)
- Default: 0
- Default velocity PID parameters
position_kp_x (float)
- Default: 0
- Default position PID parameters
position_ki_x (float)
- Default: 0
- Default position PID parameters
position_kd_x (float)
- Default: 0
- Default position PID parameters
int_previous_vel_sat_x (float)
- Default: 5.0
- This is a saturation point for the integral term in the PID controller. By having a limit, we can help prevent excessive windup if the motor gets stuck.
int_previous_pos_sat_x (float)
- Default: 5.0
- This is a saturation point for the integral term in the PID controller. By having a limit, we can help prevent excessive windup if the motor gets stuck.
override_limits_x (int)
- Default: 1
- Should we ignore the limit switches in software? (limit switches not currently implemented)
max_velocity_x (float)
- Default: 0
- In rad/s
voltage_limit_x (float)
- Default: 10.0
- The maximum output voltage that the cards will send
voltage_offset_x (float)
- Default: 0
- If a DC voltage offset is needed on the ADC
max_theta_x (float)
- Default: 0
- These are software limit switches. If max_theta == min_theta then no limits are used.
min_theta_x (float)
- Default: 0
- These are software limit switches. If max_theta == min_theta then no limits are used.
encoder_direction_x (int)
- Default: -1
- Are the encoders counting positive when the motor is rotation forward or backward?

Dio settings:
- none
Aio settings:
- none

Notes

Example 1: Using the basic MEN driver

The following configuration file illustrates the basic use of the MEN driver:

driver
(
  plugin "libmendriver.so"
  name "mendriver"
  provides ["left::motor:0"
            "right::motor:1"
            "motor:2"
            "motor:3"
            "motor:4"
            "motor:5"
            "motor:6"
            "motor:7"
            "aio:0"
            "dio:0"]
  alwayson 1

# Motor 0
  encoder_count_0           1024
  gear_ratio_0              28
  enabled_0                 0 
  position_kp_0             10.500
  position_ki_0             00.080
  position_kd_0             00.100
  velocity_kp_0             00.500
  velocity_ki_0             05.000
  velocity_kd_0             00.001
  override_limits_0         1
  max_velocity_0            20.000

# Motor 1
  encoder_count_1           1024
  gear_ratio_1              28
  enabled_1                 0 
  position_kp_1             10.500
  position_ki_1             00.080
  position_kd_1             00.100
  velocity_kp_1             00.500
  velocity_ki_1             05.000
  velocity_kd_1             00.001
  override_limits_1         1
  max_velocity_1            20.000

)

men [Drivers]

men
[Drivers]