Position Driver

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Position Driver

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positiondriver

The position driver is used to drive Robotino to a given position.

The position driver generates velocity and angular velocity set values to drive Robotino from the actual to the set position.

Inputs	Type	Unit	Description
x set	float	mm	x coordinate of the set position in the global coordinate system.
y set	float	mm	y coordinate of the set position in the global coordinate system.
phi set	float	deg	phi angle of the set position in the global coordinate system.
x actual	float	mm	x coordinate of the actual position in the global coordinate system.
y actual	float	mm	y coordinate of the actual position in the global coordinate system.
phi actual	float	deg	phi angle of the actual position in the global coordinate system.
restart	bool		Restart movement

Outputs
vx	float	mm/s	set velocity in x direction in Robotino's local coordinate system
vy	float	mm/s	set velocity in y direction in Robotino's local coordinate system
omega	float	deg/s	set angular velocity.
Position reached	bool		Is true if vx=vy=0, i.e. the set position is reached.
Orientation reached	bool		Is true if omega=0, i.e. the set orientation is reached.
Pose reached	bool		Is true if both position and orientation are reached.