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Chapter 27
Segway RMP

The Segway RMP (Robotic Mobility Platform) is a robotic platform based on the Segway Personal Transporter. Urbi for Segway RMP can be downloaded from http://www.urbiforge.com/index.php/Robots/Segway.

 27.1 RMP
  27.1.1 Instantiation
  27.1.2 Slots
 27.2 GSRAPI compliance

27.1 RMP

The UObject RMP provides the interface from Urbi.

27.1.1 Instantiation

 
var rmp = RMP.new(period);  

period is the period, in seconds, at which orders will be sent and coders will be read.

27.1.2 Slots

Raw effector variables

Raw sensors Current speed and coder values.

Calibration Urbi unit per coder unit coefficients.

The file ‘usegway.u’ contains approximate values for meter, seconds, radian units.

27.2 GSRAPI compliance

The file ‘rmp.u’ will initialize the RMP UObject and give it a Gostai Standard Robotic API compliant interface.