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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
  31.1.1 Instantiation
  31.1.2 Slots
 31.2 GSRAPI compliance

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

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.

31.2 GSRAPI compliance

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