{"id":669,"date":"2017-02-16T18:47:02","date_gmt":"2017-02-16T09:47:02","guid":{"rendered":"https:\/\/www.kdel.org\/wp\/?p=669"},"modified":"2017-02-16T18:52:15","modified_gmt":"2017-02-16T09:52:15","slug":"fawkes-robotino-2016%e3%81%a7%ef%bc%8crobotino-3%e3%82%92%e5%8b%95%e3%81%8b%e3%81%99%e3%81%9f%e3%82%81%e3%81%ab%ef%bc%8e","status":"publish","type":"post","link":"https:\/\/www.kdel.org\/wp\/?p=669","title":{"rendered":"fawkes-robotino.2016\u3067\uff0crobotino 3\u3092\u52d5\u304b\u3059\u305f\u3081\u306b\uff0e"},"content":{"rendered":"<p>\u6065\u305a\u304b\u3057\u306a\u304c\u3089\uff0cBabyTigers-R\u306f\uff0c2016\u5e74\u4e16\u754c\u5927\u4f1a\u3067\u306f\uff0c\u4e00\u6b69\u3082\u30ed\u30dc\u30c3\u30c8\u304c\u52d5\u304b\u306a\u3044\u307e\u307e\u8a66\u5408\u3092\u7d42\u3048\u307e\u3057\u305f\uff0e<br \/>\n\u539f\u56e0\u306f\uff0cFawkes \u3078\u306e\u79fb\u884c\u306b\u5931\u6557\u3057\u305f\u304b\u3089\u3067\u3059\uff0e<\/p>\n<p>\u305d\u3057\u3066\uff0c\u4e00\u5e74\u7d4c\u3061\uff0c2016\u5e74\u7248Fawkes-robotino \u304c\u30ea\u30ea\u30fc\u30b9\u3055\u308c\u307e\u3057\u305f\u304c\uff0c\u672a\u3060\u306b\u30ed\u30dc\u30c3\u30c8\u306f\u52d5\u304d\u307e\u305b\u3093\u3067\u3057\u305f\uff0e<\/p>\n<p>\u7279\u306b\uff0c2016\u5e74\u7248\u306f\uff0cRobotino 3\u3092\u52d5\u304b\u3059\u306e\u306bOpenRobotinoAPI \u3092\u4f7f\u308f\u305a\u306b\uff0c\u76f4\u63a5\u5236\u5fa1\u3059\u308b\u65b9\u5f0f(Direct)\u306b\u5909\u308f\u3063\u3066\u3044\u307e\u3057\u305f\uff0e<br \/>\n\u305d\u308c\u6545\uff0cOpenRobotinoAPI \u7d4c\u7531\u3067\u306e\u52d5\u304b\u3057\u65b9\u306e\u30d2\u30f3\u30c8\u304c\u5f97\u3089\u308c\u306a\u3044\u72b6\u614b\u306b\u306a\u3063\u3066\u3044\u307e\u3059\uff0e<\/p>\n<p>~\/fawkes-robotino\/cfg\/conf.d\/robotino.yaml \u306e\u4ee5\u4e0b\u3092\u5909\u66f4\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\n  # driver: direct\r\n  driver: openrobotino\r\n<\/pre>\n<p>\u3067\uff0c\u5b9f\u969b\u306b\u5b9f\u884c\u3057\u3066\u307f\u308b\u3068\uff0claptop\u5074\u3067\u306f\uff0c<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">18:30:00.723777 CLIPS (agent): ***** Enabling motor *****<\/pre>\n<p>\u3068\u306a\u308a\uff0cRobotino \u5074\u3067\u3082\uff0c<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">10:31:10.245522 RobotinoActThread: Enabling motor on request<\/pre>\n<p>\u3068\u53d7\u3051\u53d6\u3063\u3066\u3044\u3066\uff0c\u30e2\u30fc\u30bf\u30fc\u3092\u52d5\u304b\u305d\u3046\u3068\u3057\u3066\u3044\u308b\u3093\u3067\u3059\u3088\u306d\uff0e<\/p>\n<p>\u4e0a\u8a18\u306f\uff0c~\/fawkes-robotino\/fawkes\/src\/plugins\/robotino\/act_thread.cpp \u3067\u6271\u3063\u3066\u304a\u308a\uff0c<br \/>\nRobotinoActThread::loop() \u306e\u4e2d\u3067\uff0c\u5224\u5b9a\u3057\u3066\u3044\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\ndes_vx_ = des_vy_ = des_omega_ = 0.;\r\nset_des_vel = true;\r\n<\/pre>\n<p>\u4e0a\u8a18\u3067\u901f\u5ea6\u30920\u306b\u3057\u3066\uff0c\u8a2d\u5b9a\u53cd\u6620\u306e\u30d5\u30e9\u30b0\u3092\u7acb\u3066\u3066\u3044\u307e\u3059\uff0e<br \/>\n\u305d\u306e\u30d5\u30e9\u30b0\u3092\u5143\u306b\uff0c\u4ee5\u4e0b\u306e\u3088\u3046\u306b\uff0ccom\u306eset_desired_vel\u3078\u3068\u5f15\u304d\u6e21\u3057\u3066\u3044\u307e\u3059\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">if (set_des_vel)     com_-&gt;set_desired_vel(des_vx_, des_vy_, des_omega_);<\/pre>\n<p>\u3061\u306a\u307f\u306b\uff0c\u3053\u306edes_vx_\u306e\u5024\u30920\u4ee5\u5916\u306b\u8a2d\u5b9a\u3057\u3066\u3082\uff0c\u30e2\u30fc\u30bf\u30fc\u306f\u52d5\u3044\u3066\u304f\u308c\u307e\u305b\u3093\u3067\u3057\u305f\uff0e<br \/>\n\u304a\u304b\u3057\u3044\u3067\u3059\u306d\uff0e<\/p>\n<p>\u3053\u3053\u3067\u8a2d\u5b9a\u3055\u308c\u305f\u901f\u5ea6com_thread.cpp \u306eupdate_velocities() \u306b\u3066\uff0c\u66f4\u65b0\u3055\u308c\u307e\u3059\uff0e<\/p>\n<p>\u3055\u3066\uff0cupdate_velocities \u3067\u691c\u7d22\u3057\u3066\u307f\u307e\u3057\u3087\u3046\uff0e<\/p>\n<pre class=\"brush: bash; title: ; notranslate\" title=\"\">robotino@robotino-base1:~\/fawkes-robotino\/fawkes\/src\/plugins\/robotino$ grep update_velocities *\r\ncom_thread.cpp:RobotinoComThread::update_velocities()\r\ncom_thread.h:\tbool update_velocities();\r\ndirect_com_thread.cpp:\t\tif (update_velocities())  drive();\r\n<\/pre>\n<p>\u3093\u3063\uff0e<br \/>\nupdate_velocities() \u3092\u547c\u3073\u51fa\u3057\u3066\u3044\u308b\u306e\u304c\uff0cdirect\u99c6\u52d5\u306e\u65b9\u306b\u3057\u304b\u3042\u308a\u307e\u305b\u3093\uff01<br \/>\n\u3068\u3044\u3046\u308f\u3051\u3067\uff0copenrobotino_com_thread.cpp \u306b\u4ee5\u4e0b\u3092\u8ffd\u52a0\u3057\u307e\u3057\u3087\u3046\uff0e<\/p>\n<pre class=\"brush: plain; title: ; notranslate\" title=\"\">\r\nvoid\r\nOpenRobotinoComThread::process_api_v2()\r\n{\r\n#ifdef HAVE_OPENROBOTINO_API_2\r\n        com_-&gt;processComEvents();\r\n        update_velocities();\r\n<\/pre>\n<p>\u3053\u308c\u3067\uff0cloop \u304b\u3089\u547c\u3073\u51fa\u3055\u308c\u308b\u5ea6\u306b\uff0c\u901f\u5ea6\u3082\u66f4\u65b0\u3055\u308c\u307e\u3059\uff0e<\/p>\n<p>\u4e00\u5fdc\uff0c\u3053\u308c\u3067\u30e2\u30fc\u30bf\u30fc\u304c\u52d5\u304d\u51fa\u3057\u305f\u306e\u3067\uff0c\u305d\u308c\u306a\u308a\u306b\u6b63\u5e38\u306b\u52d5\u3044\u3066\u3044\u308b\u3088\u3046\u306b\u601d\u3048\u307e\u3059\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6065\u305a\u304b\u3057\u306a\u304c\u3089\uff0cBabyTigers-R\u306f\uff0c2016\u5e74\u4e16\u754c\u5927\u4f1a\u3067\u306f\uff0c\u4e00\u6b69\u3082\u30ed\u30dc\u30c3 &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"more-link\" href=\"https:\/\/www.kdel.org\/wp\/?p=669\"> <span class=\"screen-reader-text\">fawkes-robotino.2016\u3067\uff0crobotino 3\u3092\u52d5\u304b\u3059\u305f\u3081\u306b\uff0e<\/span> \u7d9a\u304d\u3092\u8aad\u3080 &raquo;<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_crdt_document":"","footnotes":""},"categories":[10,3,2,9,4],"tags":[],"class_list":["post-669","post","type-post","status-publish","format-standard","hentry","category-fawkes","category-logistics-league","category-robocup","category-robotino-3","category-winter-school-2015"],"_links":{"self":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/669","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=669"}],"version-history":[{"count":3,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/669\/revisions"}],"predecessor-version":[{"id":672,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=\/wp\/v2\/posts\/669\/revisions\/672"}],"wp:attachment":[{"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=669"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=669"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.kdel.org\/wp\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=669"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}