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/, already available for new versions of linux.

NOTE: After downloading and installing the driver from Kvaser and before installing the Player, edit the file '/usr/include/canlib.h' by comment out the definitions for DWORD, HANDLE, and BOOL. After that, create a 'build' folder inside the decompressed Player folder, enter 'build' and run 'cmake ../'. After this, run 'ccmake ../' from the 'build' and point the CANLIB_DIR variable to the folder where the Kvaser was decompressed (don't forget to 'toggle' to advance mode to see this variable on the 'ccmake' list otherwise it won't appear). Press 'c' to configure and 'g' to generate.

You are now ready to do 'sudo make install' in 'build'.

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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