RHD:Plug-ins

Some plug-ins were developed for RHD, enabling control of the AU SMR and the KVL HAKO robots using the framework.

Existing Plug-ins for RHD

• AUSerial plug-in Configurable driver for the RS485 bus used on the SMR
• HakoCan plug-in Can-bus driver for controlling the automated Hako Tractor
• GPS plug-in GPS module supporting classic NMEA serial GPS and the RTK GPS at KVL
• FOGyro plug-in Driver for the Fibre Optic Gyro, from KVL
• Crossbow plug-in Driver for the Crossbow IMU400 unit
• SMRDSerial plug-in Wrapper for the old SMRD interface, used for testing on the SMR
• rFLEX plug-in Driver for the iRobot rFLEX research robots platform
• RS232 Linesensor plug-in Interface for the RS232-based SMR linesensor module
• Stage 2.1 plug-in Simulator plug-in, using the Stage simulator from the Player/Stage project
• sf9dof plug-in Driver for Sprak-fun board with serial nterface to 3-axis accelerometer 3-axis gyro and 3-axis magnetometer
• sd84 plug-in Driver 84 channel servo driver board from RobotShop.
• usbiss Interface for i2c bus from USBi2c converter and connected to a MD25 motor controller unit
• buspiratei2c is an interface to sparkfun buspirate, and configured for i2c sniffing
• buspiratead is an interface to sparkfun buspirate configured as A/D converter
• joycontrol is an interface to (logitech) HID game-pad/joystick, providing buttons and axis variables - intended for remote control of especially robot drive.
• gps serial interface to RTK and normal NMEA gps units.
• dynamixel interface to microprocessor (teensy 2) that connects to dynamixel MX-28 servos
• rhdlog a plugin that can log all variables in RHD to a textfile
• fieldsteer steering interface to 2 dynamixels servos and 3 magnetic encoders
• 24V_switch power switch 10-30V up to 3A.