"Applicazione di un laser range scanner a un robot mobile", 2010

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Appendice 3 Versione iniziale del file “pion1m.p” ;SectionFlags for : ; Robot parameter file Section General settings ;SectionFlags for General settings: Class Pioneer ; general type of robot Subclass pion1m ; specific type of robot RobotRadius 220 ; radius in mm RobotDiagonal 90 ; half-height to diagonal of octagon RobotWidth 400 ; width in mm RobotLength 500 ; length in mm of the whole robot RobotLengthFront 0 ; length in mm to the front of the robot (if this is 0 ; (or non existant) this value will be set to half of ; RobotLength) RobotLengthRear 0 ; length in mm to the rear of the robot (if this is 0 ; (or non existant) this value will be set to half of ; RobotLength) Holonomic true ; turns in own radius MaxRVelocity 100 ; absolute maximum degrees / sec MaxVelocity 400 ; absolute maximum mm / sec MaxLatVelocity 0 ; absolute lateral maximum mm / sec HasMoveCommand false ; has built in move command 66
RequestIOPackets false ; automatically request IO packets RequestEncoderPackets false ; automatically request encoder packets SwitchToBaudRate 0 ; switch to this baud if non-0 and supported on robot Section Conversion factors ;SectionFlags for Conversion factors: AngleConvFactor 0.0061359 ; radians per angular unit (2PI/4096) DistConvFactor 0.05066 ; multiplier to mm from robot units VelConvFactor 2.5332 ; multiplier to mm/sec from robot units RangeConvFactor 0.1734 ; multiplier to mm from sonar units DiffConvFactor 0.00333333 ; ratio of angular velocity to wheel velocity (unused ; in newer firmware that calculates and returns this) Vel2Divisor 4 ; divisor for VEL2 commands GyroScaler 1.626 ; Scaling factor for gyro readings Section Accessories the robot has ;SectionFlags for Accessories the robot has: TableSensingIR false ; if robot has upwards facing table sensing IR NewTableSensingIR false ; if table sensing IR are sent in IO packet FrontBumpers false ; if robot has a front bump ring NumFrontBumpers 0 ; number of front bumpers on the robot RearBumpers false ; if the robot has a rear bump ring NumRearBumpers 0 ; number of rear bumpers on the robot Section Sonar parameters 67
Page 1 and 2:
Studente: UNIVERSITÀ DEGLI STUDI D
Page 3 and 4:
L’implementazione con le CGI ....
Page 5 and 6:
Capitolo 1 Installazione del calcol
Page 7 and 8:
fisicamente una porta usb. Si è po
Page 9 and 10:
Le classi fondamentali di Aria Aria
Page 11 and 12:
ciclo possa andarle a modificare ne
Page 13 and 14:
Aria è scritto in modo tale da acc
Page 15 and 16: Figura 6: Rappresentazione schemati
Page 17 and 18: “ArGripper” (“pinza”) che v
Page 19 and 20: Il file bash per avviare il program
Page 21 and 22: Capitolo 2 Il passo successivo: ARN
Page 23 and 24: col mouse il robot all’interno de
Page 25 and 26: In Figura 9 è possibile osservare
Page 27 and 28: ;SettableAccsDecs false ; if the ac
Page 29 and 30: Figura 11: Una fotografia della sta
Page 31 and 32: La scelta del materiale isolante pe
Page 33 and 34: Nel riquadro rosso sono presenti se
Page 35 and 36: stazione di ricarica. Questo è sta
Page 37 and 38: packet.doubleToBuf(0); client.reque
Page 39 and 40: La pagina di stato A fianco della p
Page 41 and 42: Figura 19: Tobor nelle vicinanze de
Page 43 and 44: } tmp[16] = 0; tmp[ch] = ((n>>bit)&
Page 45 and 46: connector ArSimpleConnector connect
Page 47 and 48: pinza.liftDown(); //Apre la pinza t
Page 49 and 50: ); (wasEStopTriggered ? "YES" : " "
Page 51 and 52: { if(bit == 9) // this is also a mo
Page 53 and 54: Appendice 2 Il programma “Caramel
Page 55 and 56: } /* main function */ int main(int
Page 57 and 58: { ArLog::log(ArLog::Terse, "Could n
Page 59 and 60: Print data header #define HEADFORMA
Page 61 and 62: cont = 0; } cont++;*/ tobor.comStrN
Page 63 and 64: } tobor.comStrN(ArCommands::SAY,tun
Page 65: } // robot cycle stopped, probably
Page 69 and 70: SettableAccsDecs false ; if the acc
Page 71 and 72: HasMoveCommand false ; has built in
Page 73 and 74: ;SectionFlags for Movement control
Page 75 and 76: usr/local/Arnl/examples/goalClient0
Page 77 and 78: usr/local/Arnl/examples/arnlServer2
Page 79 and 80: void handleRobotUpdate(ArNetPacket*
Page 81 and 82: } exit(1); printf("Connected to ser
Page 83 and 84: home/user/programmi_robot/rientroTo
Page 85 and 86: Appendice 8 La CGI “stop.cgi” #
Page 87 and 88: fi echo -e "" grep status /home/use
Page 89: Bibliografia/sitografia http://www
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"Applicazione di un laser range scanner a un robot mobile", 2010

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