Chapter 31
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.org/index.php/Robots/Segway.

31.1 RMP

The UObject RMP provides the interface from Urbi.

31.1.1 Instantiation

 
var rmp = RMP.new(period);
       

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

31.1.2 Slots

Raw actuator variables

• forwardSpeed 
  forward speed in meters per second. Can be read to (behaves as a sensor), or written to (actuator).
• yawSpeed 
  yaw speed in radian per second. Can be read and written to.

Raw sensors Current speed and coder values.

• leftSpeed 
  
• rightSpeed 
  
• forward 
  
• yaw 
  
• left 
  
• right 
  

Calibration Urbi unit per coder unit coefficients.

• forwardSpeedCoeff 
  
• yawSpeedCoeff 
  
• leftSpeedCoeff 
  
• rightSpeedCoeff 
  
• forwardCoeff 
  
• yawCoeff 
  
• leftCoeff 
  
• rightCoeff 
  

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

31.2 GSRAPI compliance

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