Personal Exploration Rover Aaron Klapheck PER-Benchmark-1.0.0 Aaron Klapheck and Mel Ludowise 2009-June-19 Set up all activities. 1.0.1 Aaron Klapheck 2009-July-29 Added Constants section. Edited Activity Definitions. 1.0.1 Aaron Klapheck 2009-Aug-4 Edited Activity Definitions to increase their clarity. 1.0.2 Aaron Klapheck 2009-Aug-6 Spell checked the document. Edited Activity Definitions to increase their clarity. 1.0.3 Aaron Klapheck 2009-Aug-10 Spell checked the document. Edited Activity Definitions to increase their clarity. Drive Camera Misc 0.3 Taken from PER code. Double seconds 0.2 Taken from PER code. Double seconds/degrees 2 Estimated value. Double W/degree 0.1 Taken from PER code. Double s/degrees 0.4 Estimated value. Double W/degrees 0.2 Taken from PER code. Double seconds 0.311 Taken from PER code. Double seconds/cm 1 Estimated value. Double W/cm 2 Estimated value. Double W/seconds .75 Estimation taken from PER code. Double seconds 0.4 Estimated value. Double W Battery_Power Double W The amount of power the PER can supply Default group name String in_development Drive PER will move in a straight line at the specified angle (DriveToAction). 0 Centimeters the PER will move. Range: -1000 to 1000. The default distance is 0 cm. Integer cm 0 The angle the PER will drive at. 0 = straight, 90 = left, -90 = right, Range: -180 to 180. The default angle is 0 degrees. Integer degrees NO_SAFETY NO_SAFETY: No IR detection of obstacles will occur. STATIC_SAFETY: Where the PER's head is fixed at pan=0 and tilt=-35 and if an object is detected the PER will stop. CYCLE_SAFETY: Where the PER's head is continuously moving to a number of safety points and if an object is detected the PER will stop. The default safety level is NO_SAFETY. String NO_SAFETY STATIC_SAFETY CYCLE_SAFETY SECONDS_PER_DRIVE + (Math.abs(Distance) * SECONDS_PER_DRIVE_CENTIMETER) Battery_Power WATTS_PER_DRIVE_CENTIMETER * Math.abs(Distance) in_development Drive The PER will move to the specified coordinates and face the specified orientation (MoveToAction). 0 The x coordinate of the destination. (+) forward, (-) backward, Range: -1000 to 1000. The default x value is the origin value. Integer cm 0 The y coordinate of the destination. (+) left, (-) right, Range: -1000 to 1000. The default y value is the origin value. Integer cm 0 The angle the PER will be facing when it reaches its destination. (+) CCW, (-) CW, Range: -180 to 180. The default angle is 0 degrees. Integer degrees SECONDS_PER_DRIVE + (Math.abs(x_position + y_position) * SECONDS_PER_DRIVE_CENTIMETER) Battery_Power 20 in_development Drive The PER will rotate in place by a specified angle (TurnTo). 0 The angle the PER will turn through. (+) CCW, (-) CW, Examples: 0 = straight, 90 = left, -90 = right. Range: -360 to 360. The default angle is 0 degrees. Integer degrees SECONDS_PER_DRIVE + (Math.abs(Angle) * SECONDS_PER_TURN_DEGREE) Battery_Power WATTS_PER_TURN_DEGREE * Math.abs(Angle) in_development Camera Changes the cameras position to the position specified (TurnHeadAction). 0 The side-to-side motion or yaw of the PER's head. (+) = left, (-) = right, Range = -180 to 180. The default pan angle is 0 degrees. Integer degrees 0 The up-and-down motion or pitch of the PER's head. (+) = up, (-) = down, Range = -30 to 90. The default tilt angle is 0 degrees. Integer degrees (SECONDS_PER_HEAD_TURN_DEGREE * Math.abs(Tilt)) + (SECONDS_PER_HEAD_TURN_DEGREE * Math.abs(Pan)) Battery_Power WATTS_PER_HEAD_TURN_DEGREE * (Math.abs(Tilt) + Math.abs(Pan)) in_development Camera PER takes a picture (RoverController.takePicture). 640x480 Height x Width (in pixels) of each of the pictures taken that make up the panorama. Default is 320 x 240 pixels. String pixels 640x480 352x288 320x240 160x120 SECONDS_PER_PICTURE Battery_Power WATTS_PER_PICTURE in_development Camera PER takes a series of pictures (tiles) witch it internally stitches together to make a panorama (TakePanoramaAction). -30 The minimum tilt angle the panorama includes. Range: 0 to -45. The default angle is -30 degrees. Integer degrees 30 The maximum tilt angle the panorama includes. Range: 0 to 90. The default angle is 30 degrees. Integer degrees 320x240 Height x Width (in pixels) of each of the pictures taken that make up the panorama. Default is 320 x 240 pixels. String pixels 640x480 352x288 320x240 160x120 2*8*SECONDS_PER_PICTURE Battery_Power 2*8*WATTS_PER_PICTURE in_development Misc Turns on a Ultraviolet light for a specified amount of time (RoverController.setLight). 0 The length of time the UV light will be on. Range: 0 to 3600. The default duration is 0 seconds. Integer seconds time_active Battery_Power WATTS_PER_LIGHT_SECONDS * time_active in_development Misc The PER will scan the specified area for obstacles (ScanAction). -30 The tilt angle for the PER's head. (+) CCW, (-) CW, Example: 0 = straight, 90 = left, -90 = right. Range: -45 to 0. The default angle is -30 degrees. Integer degrees -30 How far to the left the PER's head will turn (must be +). (+) CCW. Range: -180 to 0. The default angle is -30 degrees. Integer degrees 30 How far to the right the PER's head will turn (must be -). (-) CW. Range: 0 to 180. The default angle is 30 degrees. Integer degrees 15 The largest angle the PER's head will turn through at a time. Range: 10 to 90. The default step angle is 15 degrees. Integer degrees SECONDS_PER_HEAD_TURN_DEGREE * Math.abs(Minimum_pan_angle + Math.abs(Minimum_pan_angle - Maximum_pan_angle)) Battery_Power WATTS_PER_HEAD_TURN_DEGREE * Math.abs(Minimum_pan_angle + Math.abs(Minimum_pan_angle - Maximum_pan_angle))