Vizzy Segway

Segway RMP 50

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.

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 ..". Check if the variable was set, otherwise define it, using the path of the folder where the Kvaser folder was decompressed.

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.

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:

   driver
   (
     name "linuxjoystick"
     provides ["joystick:0" ]
     requires ["position2d:0"]
     alwayson 1
     timeout 0.0
     max_speed [ 3.0 3.0  30 ]
     port "/dev/input/js0"
   )
   driver
   (
     name "segwayrmp"
     provides ["position2d:0" "position3d:0" "power:0"]
     bus "usb"
     usb_device "/dev/ttyUSB0"
     max_xspeed 1.5
     max_yawspeed 80
   )

Then, execute

   player <configFileName>

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