Pioneer 2TM, 3TM manual P2OS

Page 41

ActivMedia Robotics

DCHEAD

22

sint

Heading setpoint relative to last setpoint;

1.0

 

 

 

 

 

± degrees (+ = ccw)

 

 

 

 

SETRA

23

sint

Rotational (+)acceleration or

1.0

1.0

 

 

 

 

(-)deceleration, in degrees/sec/sec

 

 

–

SONAR

28

int

1=enable, 0=disable all the sonar; otherwise, use

1.0

1.0

–

 

 

 

bit 0 to enable (1) or disable (0) a particular array

 

 

 

 

 

 

1-4, as specified in argument bits 1-4.

 

 

 

STOP

29

none

Stops robot; motors remain enabled

1.0

1.0

–

DIGOUT

30

2

Bits 8-15 is a

byte mask that selects the output

1.716

1.2

4.2

 

 

bytes

port(s); Bits 0-7 set (1) or reset (0) the selected

 

 

 

 

 

 

port(s).

 

 

 

 

 

VEL2

32

2

Independent wheel velocities; Bits 0-7 for right

1.0

1.0

4.1

 

 

bytes

wheel, Bits 8-15 for left wheel; PSOS is in

 

 

 

 

 

 

±4mm/sec; AROS/P2OS in 20mm/sec increments

 

 

 

GRIPPER

33

int

Gripper server commands. See the Pioneer 2

1.0

1.3

4.0

 

 

 

Gripper or PeopleBot manual for details.

 

 

 

ADSEL

35

int

Selects the A/D port number for reporting Anport

1.0

1.2

–

 

 

 

value in standard SIP.

 

 

 

 

GRIPPERVAL

36

int

Gripper server values. See Pioneer 2 Gripper or

1.0

 

–

 

 

 

PeopleBot manual for details.

 

 

 

GRIPREQUEST

37

none

Request one (1), a continuous stream (>1), or stop

1.0

1.E

–

 

 

 

(0) Gripper SIPs. See Pioneer 2 Gripper or

 

 

 

 

 

 

PeopleBot manual for details.

 

 

 

IOREQUEST

40

none

Request one (1), a continuous stream (>1), or stop

1.0

1.E

–

 

 

 

(0) IO SIPs

 

 

 

 

 

PTUPOS

41

2

Msbyte is port number (1-4), lsbyte is pulse

–

1.2

4.5

 

 

bytes

width in 100µsec units PSOS or 10µsec units

 

 

 

 

 

 

P2OS

 

 

 

 

 

TTY2

42

string

Sends string argument to serial device connected

1.0

1.0

4.2

 

 

 

to AUX (AUX1 on H8S) port

 

 

 

GETAUX

43

int

Request to retrieve 1-200 bytes from the AUX

1.0

1.4

–

 

 

 

(AUX1 on H8S) serial port; 0 flushes the buffer.

 

 

 

BUMP_STALL

44

int

Stall robot if front (1), rear (2) or either (3) bumps

1.0

1.5

–

 

 

 

contacted. Off is 0. See BumpStall FLASH for

 

 

 

 

 

 

default.

 

 

 

 

 

TCM2

45

int

TCM2 Module commands; see TCM2 Manual for

1.0

1.6

–

 

 

 

details.

 

 

 

 

 

DOCK

46

int

Default is OFF; 1=enable docking signals;

 

 

 

 

 

 

2=enable docking signals and stop the robot when

–

1.C

–

 

 

 

docking power sensed.

 

 

 

 

JOYDRIVE

47

int

Default is O=OFF; 1=allow joystick drive from

1.0

1.G

–

 

 

 

hardware port while also connected with a client

 

 

 

SONAR_CYCLE

48

int

Change the sonar cycle time; arg in milliseconds

1.8

–

–

HOSTBAUD

50

int

Reset the HOST serial port baud rate to 0=9600,

1.8

–

–

 

 

 

1=19200, 2=38400, 3=57600, or 4=115200

 

 

 

AUX1BAUD

51

int

Resets the AUX1 serial port baud rate

1.8

–

–

AUX2BAUD

52

int

Resets the AUX2 serial port baud rate

1.8

–

–

E_STOP

55

none

Emergency stop, overrides deceleration

1.0

1.8

–

 

 

 

 

 

 

 

M_STALL

56

int

1 (default)=Motors stop button causes stall; 0

1.0

1.E

–

 

 

 

(P2OS default)=off

 

 

 

 

LEDGE

57

int

0 if inactive; 1 if stop when near-IRs triggered; 2

1.5

–

–

 

 

 

if impose speed control only; 3 if both stop and

 

 

 

 

 

 

speed control

 

 

 

 

 

STEP

64

none

Single-step mode (simulator only)

1.0

1.0

3.x

 

 

 

 

 

 

 

TTY3

66

string

Sends string argument to serial device connected

1.0

–

–

 

 

 

t AUX2 H8S

i l

t

 

 

 

16No, this isn’t a misprint—the DIGOUT command was mistakenly omitted until version 1.7.

35

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Contents Pioneer H8-Series Operations Manual Page Important Safety Instructions Table of Contents Operating the Aria Demonstration Client Appendix C Robot Package IntroductionBasic Components all shipments Optional Components and Attachments partial listAdditional Resources User-Supplied Components / System RequirementsSupport Website NewsgroupsSupport@activmedia.com SupportPioneer Reference Platform What Is Pioneer?Hitachi H8S-BASED Microcontroller Plus MOTOR-POWER BoardHttp//robots.activmedia.com Client SoftwarePioneer Legacy Supporting SoftwarePioneer 2 and PeopleBot Pioneer 1 and ATActivMedia Robotics Maintenance and Standalone Modes Server ModeModes of Operation Joydrive and Self Test ModesPhysical Characteristics Specifications & ControlsMotor Stop Button Main ComponentsP3-DX User Control Panel User Control PanelSonar Arrays with Gain Adjustment Body, Nose, and Accessory PanelsMotors, Wheels, and Position Encoders Batteries and PowerRecharging Battery Indicators and Low Voltage ConditionsDOCKING/CHARGING System Manual Operation Robot Power OFFManual Operation Robot Power and Systems on Client-server connection options Radio Controls and AccessoriesComputer Control Panel Onboard PCPC Networking Operating the Onboard PCUPS and Genpowerd Safety Aros Watchdogs Quick Start Preparative AssemblyInstall Aria Client-Server Communications Install BatteriesStarting UP Client and Server Drive Self-TestIpthru Demo Startup OptionsOperating the Aria Demonstration Client Successful ConnectionProper Connections DisconnectingQuickstart Troubleshooting SRIsim OFFJoydrive and Self-Tests Joydrive ModeEngaging SELF-TESTS CLIENT-SERVER Communication Packet Protocols ActivMedia Robotics Operating SystemPacket Checksum Packet ErrorsMultiply by DistConvFactor‡ Server Information PacketsBefore Client Connection Client CommandsP2OS CLIENT-SERVER Connection Opening the Servers-OPEN Autoconfiguration SYNC2Keeping the Beat-PULSE Closing the Connection-CLOSERotation Motion CommandsPlatform Dependent and Independent Variables ActivMedia Robots in MotionInternal coordinate system PID ControlsPosition Integration Enable/Disabling SonarSonar Polling Sequence and Rate11-15 Reserved Stalls and EmergenciesPacket Processing Accessory Commands and PacketsChanging Baud Rates and Autobauding CONFIGpac and Config CommandSerial Port Communications Gripper packets HOST-to-AUX Serial TransfersEncoder Packets TCM2 SoundsHeading Correction Gyro Onboard PCUser I/O Input Output I/OIO packets Bumper and IR I/ODOCKING/CHARGING System I/O Expansion I/ODigital Port Controls Docking/Charging ServersCharge State Overcharge ~Volts Charge current ID7 Monitoring the Recharge CycleActivMedia Robotics Operating System Where to GET Aros Software Updating & Reconfiguring ArosAros Maintenance Mode Simple Aros UpdatesStarting Aroscf Updating and Reconfiguring ArosChanging Parameters Configuring Aros Operating ParametersInteractive Commands PID Parameters Save Your WorkKeyword 0056 0057 0060 0034 Ticksmm and RevcountBumpers Stallval and StallcountUpdating and Reconfiguring Aros Tire Inflation Maintenance & RepairDrive Lubrication BatteriesTightening the AT Drive Belt Alternative Battery ChargersAutomated Docking/Charging System Removing the Nose Getting InsideFactory Repairs Opening the DeckAppendix a Power ConnectorH8S Ports & Connections H8S MicrocontrollerUser I/O, Gripper, Docking/Charging Port Serial PortsExpansion I/O Bus OD7User Control Interface Bumper PortsMotors, Encoders, and IR Sensors Joystick Port Appendix B Pioneer 3 and 2-PLUS MOTOR-POWER BoardConfiguration for Current and Temperature Sensing Radio, Auxiliary, and User Power Connectors Controller Power and InterfaceGND IR Signal and PowerAppendix C Radio Modem SettingsAppendix D Serial Ethernet SettingsConsole mode Peer-to-Peer Networking WebpageAppendix E SpecificationsControls and Ports Warranty & Liabilities Columbia Drive Amherst, NH 603
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