HumanInput2dKbdTermio
[HumanInput2d drivers, C++, Linux]

Keyboard driver for HumanInput2d using termio library. More...

Keyboard driver for HumanInput2d using termio library.

Converts keyboard strokes to 2D position or velocity commands.

Motion commands are issued by pressing keyboard keys.

• i : increment "forward motion"
• k : decrement "forward motion"
• j : increment "turn"
• l : decrement "turn"
• u : stop turn
• o : stop movement (but still turn)
• 1 : step change to 10% of max speed (disabled by default, see configuration)
• 2 : step change to 20% of max speed (disabled by default, see configuration)
• ...
• 9 : step change to 90% of max speed (disabled by default, see configuration)
• 0 : step change to 100% of max speed (disabled by default, see configuration)
• anything else : stop

Note that the meaning of "forward motion" and "turn" may be interpreted differently depending on which type of device we are controlling.

Additional Configuration

• KbdTermio.StepInputs (bool)
  • If set to 1, excepts numeric commands which are interpreted as step changes in speed. For example, pressing 1 results in step to 10% of maximum speed, 2 to 20%, 9 to 90%, and 0 to 100%.
  • Default: 0

Authors

Alex Makarenko