Flat

The class <flat-client> plays the role of <wheelchair-client> when working with Flat instead of the wheelchair. Functionally equivalent methods are provided for both classes except for:

• The methods set-voltage-drive and set-voltage-turn do not exist for <flat-client>.
• The method mreset-origin does not reset Flat's odometry.

While Flat's coordinate system is different from the one in the wheelchair, the methods of <flat-client> make the appropriate transformations such that your program will work as in the wheelchair. See

http://www.cs.utexas.edu/users/qr/robotics/flat/index.html

for detailed information about Flat.