RemoteRobot/WheelControllerComp.xml at master · yudonguk/RemoteRobot · GitHub

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<?xml version="1.0" encoding="EUC-KR" standalone="no"?>
<component_profile>
	<id>1d0a3e72-f8c1-438e-ac6e-0e180a5bd76a</id>
	<name>WheelControllerComp</name>
	<version>1.0</version>
	<layout>100,150,250,200</layout>
	<collapsed>0</collapsed>
	<copyright>
		<company>
			<name>KITECH</name>
			<phone/>
			<address/>
			<homepage/>
		</company>
		<license_policy>LGPL</license_policy>
	</copyright>
	<execution_environment>
		<library_type>dll</library_type>
		<library_name>WheelControllerComp.dll</library_name>
		<impl_language>MSVC C++</impl_language>
		<compiler>MSVC</compiler>
		<app_domain/>
		<app_robot/>
	</execution_environment>
	<execution_semantics>
		<type>periodic</type>
		<period>10</period>
		<priority>5</priority>
		<instance_creation>multiple</instance_creation>
		<lifecycle_type>start</lifecycle_type>
	</execution_semantics>
	<properties>

		<property name="ApiName" type="string">Kobot3WheelController</property>
		<property name="Acceleration" type="float">1000</property>

	<!--
		<property name="ApiName" type="string">StellaB1WheelController</property>
		<property name="PortName" type="string">COM2</property>
		<property name="BaudRate" type="int">115200</property>
		<property name="DataBits" type="int">8</property>
		<property name="StopBits" type="int">0</property>
		<property name="Parity" type="int">0</property>
		<property name="FlowControl" type="int">0</property>

		<property name="WheelDiameter" type="float">0.1504</property>
		<property name="AxleDistance" type="float">0.289</property>
		<property name="ReductionRatio" type="float">0.07142857142857142857142857142857</property>
		<property name="EncoderCPR" type="float">256</property>
		<property name="MaximumVelocity" type="float">5</property>
		<property name="Acceleration" type="float">22.918311805232928350719261925642</property>
		<property name="Deacceleration" type="float">5.7295779513082320876798154814105</property>
		<property name="RightWheelAngleScaleFactor" type="float">0</property>
		<property name="LeftWheelAngleScaleFactor" type="float">0</property>
		<property name="RightWheelDistanceScaleFactor" type="float">0</property>
		<property name="LeftWheelDistanceScaleFactor" type="float">0</property>
		<property name="VelocityControlP" type="float">30</property>
		<property name="VelocityControlI" type="float">200</property>
		<property name="VelocityControlD" type="float">0.005</property>
		<property name="VelocityControlIL" type="float">20</property>
		<property name="PositionControlP" type="float">4.4726</property>
		<property name="PositionControlI" type="float">0.015</property>
		<property name="PositionControlD" type="float">7.0398</property>
		<property name="PositionControlIL" type="float">100</property>
		-->
	</properties>
	<data_type_list/>
	<defined_data_types/>
	<defined_service_types>
		<defined_service_type>WheelControllerService.xml</defined_service_type>
	</defined_service_types>
	<ports>
		<service_port>
			<name>WheelControllerService</name>
			<description/>
			<type>WheelControllerService</type>
			<usage>provided</usage>
			<reference>WheelControllerService.xml</reference>
			<layout>334,239,178,32</layout>
		</service_port>
	</ports>
</component_profile>