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| ==Segway RMP 50==
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| The Player project http://playerstage.sourceforge.net/ includes a driver for all the Segway RMP platforms. The Player version installed is the 3.0.2, which needs the CAN driver from Kvaser http://www.kvaser.com/. For new versions of linux, a new version of Kvaser is required (Beta version): ftp://ftp.kvaser.com/linux. To get the Username and Password send email to nmoutinho@isr.ist.utl.pt.
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| After downloading the driver from Kvaser, the CMAKE variable CANLIB_DIR must point to the folder where the Kvaser folder was decompressed. NOTE: you may need to force this by using the "ccmake .." and defining the path of the correspondent variable, by hand.
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| In order to compile Player properly, you may have to edit /usr/include/canlib.h and comment out the definitions for DWORD, HANDLE, and BOOL.
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| After installing player, a way to test the installation is to plug an USB joystick for controlling the Segway and define a configuration file for player as follows:
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| driver
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| name "linuxjoystick"
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| provides ["joystick:0" ]
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| requires ["position2d:0"]
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| alwayson 1
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| timeout 0.0
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| max_speed [ 3.0 3.0 30 ]
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| port "/dev/input/js0"
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| )
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| driver
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| name "segwayrmp"
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| provides ["position2d:0" "position3d:0" "power:0"]
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| bus "usb"
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| usb_device "/dev/ttyUSB0"
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| max_xspeed 1.5
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| max_yawspeed 80
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| )
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| Then, execute
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| player <configFileName>
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| [[Vizzy|<< Back to Vizzy wiki homepage]]
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| [[Category:Robots]]
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| [[Category:Vislab]]
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