Drivetrain
Each platform comes with a default drivetrain controller and set of wheels. Some platforms support different controllers, and some support multiple wheel types. The drivetrain
section determines which velocity controller to load, and which wheels to define in the robot description.
The following drivetrain controllers are supported:
diff_4wd
: Differential four-wheel drivediff_fwd
: Differential front-wheel drivediff_rwd
: Differential rear-wheel driveomni_4wd
: Omnidirectional four-wheel drive
The control type is determined by which wheels are controlled, not how many motors a platform has. An A200 has one motor per side which control two motors each, so it can only be diff_4wd
.
The following wheel types are supported:
outdoor
: Rugged outdoor wheelsindoor
: Smooth indoor wheelsmecanum
: Roller wheels for omnidirectional controltracks
: Continuous track systemcaster
: Uncontrolled caster wheels
The drivetrain
section defines the keys control
and wheels
to set these parameters. Under wheel
, the front
and rear
wheels are set separately. Some example configurations are shown below.
- diff_4wd
- omni_4wd
- diff_fwd
- diff_rwd
drivetrain:
control: diff_4wd
wheels:
front: outdoor
rear: outdoor
drivetrain:
control: omni_4wd
wheels:
front: mecanum
rear: meceanum
drivetrain:
control: diff_fwd
wheels:
front: indoor
rear: caster
drivetrain:
control: diff_rwd
wheels:
front: caster
rear: outdoor
Not all configurations are valid. For example, an omni_4wd
controller must be matched with four mecanum
wheels. Also, caster
wheels cannot be attached to wheels which are controlled.
Supported controllers and wheels
Platform | Control | Front Wheels | Rear Wheels |
---|---|---|---|
A200 | [diff_4wd ] | [outdoor ] indoor | [outdoor ] indoor |
A300 | [diff_4wd ] diff_fwd diff_rwd omni_4wd | [outdoor ] mecanum caster | [outdoor ] mecanum caster |
J100 | [diff_4wd ] | [outdoor ] | [outdoor ] |
W200 | [diff_4wd ] | [outdoor ] tracks | [outdoor ] tracks |
DD100 | [diff_fwd ] | [indoor ] | [caster ] |
DO100 | [omni_4wd ] diff_4wd | [mecanum ] | [mecanum ] |
DD150 | [diff_fwd ] | [indoor ] | [caster ] |
DO150 | [omni_4wd ] diff_4wd | [mecanum ] | [mecanum ] |
R100 | [omni_4wd ] diff_4wd | [mecanum ] | [mecanum ] |
Default configurations are noted with square brackets.