Platform system consist of Player Navigation or UAria modules. There is no robot.platform structure because all mobile features are assigned to body and planner part of robot structure

Platform features aviable in Player Navigation 

   // Odometric x-y-yaw position (r)
robot.body.odometry.x; 
robot.body.odometry.y;
robot.body.odometry.yaw; 
 
   // Translastion speed (rw)
robot.body.x.speed; 
robot.body.x.speed->rangemin;
robot.body.x.speed->rangemax;
 
   // Rotation speed (rw)
robot.body.yaw.speed; 
robot.body.yaw.speed->rangemin;
robot.body.yaw.speed->rangemax;
   // set goal position
robot.planner.setGoalPose(x,y,yaw);
 
   // 1 if goal reached, 0 navigation is running or failed
robot.planner.isGoalPoseReached; 

Platform features aviable with ARIA by Mobile Robots (provided by UAria)

   // Odometric x-y-yaw position (r) [mm]
robot.body.odometry.x;
robot.body.odometry.y; 
robot.body.odometry.yaw; 
 
   // Translastion speed (rw) [mm/s]
robot.body.x.speed;
robot.body.x.speed->rangemin;
robot.body.x.speed->rangemax;
 
   // Rotation speed (rw) [deg/s]
robot.body.yaw.speed; 
robot.body.yaw.speed->rangemin;
robot.body.yaw.speed->rangemax;
 
   // battery voltage capacity remain [vol]
robot.body.battery.voltage;
robot.body.battery.voltage->rangemin;
robot.body.battery.voltage->rangemax;
 
   // platform bumpers status [0 - off, 1 - on]
robot.body.bumpers.val; 
 
   // sonars status [mm]
robot.body.sonar.val; 
   // returns angle with the nearest object
robot.body.sonar.getClosest(start,end); 
 
   // laser status [mm]
robot.body.laser.val; 
   // returns angle with the nearest object
robot.body.laser.getClosest(start,end); 

 

 

EMYS and FLASH are Open Source and distributed according to the GPL v2.0 © Rev. 0.9.1, 15.05.2017

FLASH Documentation