Vectornav VN-200 User Manual download pdf (Page 14)

2. State c ontrol methods : enable, disable, init, shutdown, reset

VN200 will automatically send data in a speciﬁed frequency after conﬁguration. The driver

does not need to keep a connection t o send commands. Therefore, enable, disable, shutdown

and re se t are just empty. The init method only calls vn200

connect in vn200 using the conﬁg-

uration read in the constructor.

3. readMsgsFromHardware

Just like other methods, this method also does not involve any manual connection. It only

calls vn 200

getGpsSolution and then does some conversion of the data format.

After changing all of this, what we ne ed to do is jus t type “cmake .”, “make” and then “make

install” in the root directory of the Orca source. Changing the default value to Baud=230400,

Device=/dev/ttyUSB0 and Driver=vn200, we can run “insgps insgps.cfg” to see the coordinates

form the VN200 sensor.

4.3 Motor Encoder Driver Implementation

Similar to the GPS driver, we need to make a new interface in the component directory for

our hardware. However, there is not an encoder module in the original Orca system. In order to

make thi s new component, I ﬁrst made a copy of the laser2d component for laser scanner, named as

arduino

enc. Changing all the name preﬁxes laser2d into arduino, I got just the same new component

except for name.

For this new component, I t he n changed its fakedriver into a real driver to read data fr om serial

ports. In fakedriver/fakedriver.cpp, I changed FakeDriver::read into reading only one digit from the

serial port. Also, MainLoop::readData in mainloop.cpp should be changed to adopt to the new data

format.

The work done is quite similar to that for the GPS driver. Since the component is much simpler,

the change in the code is less than that in the insgps c omponent.

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Vectornav VN-200 User Manual Page 14