steering servo driver

ART steering servo driver. More...

ART steering servo driver.

Configuration options for steering servo device:

• port (string)
  • tty port name for the steering servo
  • default: "/dev/null"

• center_on_exit (integer)
  • unless 0, center steering during shutdown.
  • default: 1

• training (integer)
  • if not 0, log steering data, but do not send it any commands
  • default: 0

• steering_rate (float)
  • rate at which steering wheel turns (degrees/sec)
  • default: 14.5

Training mode collects data while a human driver operates the vehicle.

Configuration options for steering servo device:

• test_wheel (bool)
  • true if driver should test wheel movement before normal operation
  • default: true

• test_timeout (float)
  • test fails if goal not reached in timeout seconds
  • default: 2 sec

• test_angle (float)
  • amount to move wheel relative to starting position (degrees)
  • default: 2 degrees left

• test_tolerance (float)
  • minimum accuracy for successful test (degrees)
  • default: 0.5 degrees