CLEARPATH HUSKY A200 User Manual page 9

As a starting point, Clearpath Robotics recommends using the following relationship between wheel
velocity and platform velocity:
v represents the instantaneous translational speed of the platform and ω the instantaneous rotational
speed. v and v are the right and left wheel velocities, respectively. w is the effective track of the vehicle
r l
(0.555 m).
Husky A200 supports three distinct control modes: voltage control, speed control, and velocity control.

Voltage control, accessed via CCP message 0x0202, allows the direct control of motor voltage,
as a percentage of 24V.

Speed Control, accessed via CCP message 0x0200, activates a PID feedback control loop, and
allows the specifying of the left and right wheel speeds in m/s.

Current Control, accessed via CCP message 0x0220, activates a PID feedback control loop, and
allows the specifying of the left and right wheel currents in amperes.

Velocity Control, accessed via CCP message 0x0204, activates feedback control, and a basic
kinematic model, which allows the specifying of a target overall translational and rotational
velocity of the chassis.
For more details, please refer to the Clearpath Control Protocol documentation, and the documentation
specific to your chosen software API.
Navigate to
http://clearpathrobotics.com/downloads
Control Protocol.
Clearpath Robotics Inc. ©2011 All Rights Reserved.
to download the current release of the Clearpath
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