Pioneer 3TM, 2TM manual CLIENT-SERVER Connection

Page 42

ActivMedia Robotics Operating System

 

 

 

to AUX2 H8S serial port

 

 

 

 

 

 

 

 

 

 

GETAUX2

67

int

Request to retrieve 1-200 bytes from the AUX2

1.1

–

–

 

 

 

H8S serial port; 0 flushes the buffer.

 

 

 

CHARGE

68

int

1 to deploy autocharging mechanism; 0 to retract

1.7

–

–

ARM

70

int

Arm-related commands; see manual for details

1.3

–

–

 

-

 

 

 

 

 

 

81

 

 

 

 

 

ROTKP

82

int

Change working rotation Proportional PID value

1.1

1.M

–

 

 

 

(not FLASH default)

 

 

 

ROTKV

83

int

Change working rotation Derivative PID value

1.1

1.M

–

 

 

 

(not FLASH default)

 

 

 

ROTKI

84

int

Change working rotation Integral PID value (not

1.1

1.M

–

 

 

 

FLASH default)

 

 

 

TRANSKP

85

int

Change working translation Proportional PID

1.1

1.M

–

 

 

 

value (not FLASH default)

 

 

 

TRANSKV

86

int

Change working translation Derivative PID value

1.1

1.M

–

 

 

 

(not FLASH default)

 

 

 

TRANSKI

87

int

Change working translation Integral PID value

1.1

1.M

–

 

 

 

(not FLASH default)

 

 

 

REVCOUNT

88

int

Change working differential encoder count

1.1

1.M

 

 

 

 

(not FLASH default)

 

 

 

PLAYLIST

91

none

Request AmigoBot sounds playlist packet

1.0

1.E

–

SOUNDTOG

92

int

0=mute or 1=enable buzzer

1.0

–

–

SHUTDOWN

25

int

0=cancel shutdown; 1=simulate low-power

1.6

–

–

 

0

 

condition; 2=initiate computer shutdown

 

 

 

The number of client commands you may send per second depends on the HOST serial baud rate, average number of data bytes per command, synchronicity of the communication link, and so on. AROS’ command processor runs on a one millisecond interrupt cycle, but the server response speed depends on the command. Typically, limit client commands to a maximum of one every 3-5 milliseconds or be prepared to recover from lost commands.

THE CLIENT-SERVER CONNECTION

Before exerting any control, a client application must first establish a connection with the robot server via a serial link through the robot controller’s HOST port. After establishing the communication link, the client then sends commands to and receives operating information from the server.

When first started or reset, AROS is in a special wait state, listening for communication packets to establish a client-server connection.17 To establish a connection, the client application must send a series of three synchronization packets containing the SYNC0, SYNC1, and SYNC2 commands in succession, and retrieve the server responses.

Specifically, and as examples of the client command protocol, the synchronization sequence of bytes is (in hexadecimal notation):

SYNC0: 0xFA, 0xFB, 0x03, 0x00, 0x00, 0x00

SYNC1: 0xFA, 0xFB, 0x03, 0x01, 0x00, 0x01

SYNC2: 0xFA, 0xFB, 0x03, 0x02, 0x00, 0x02

When in wait mode, AROS echoes the packets verbatim back to the client. The client should listen for the returned packets and only issue the next synchronization packet after it has received the appropriate echo.

17There also is monitor mode for AROS downloads and parameter updates; see next chapter for details.

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Contents Pioneer H8-Series Operations Manual Page Important Safety Instructions Table of Contents Operating the Aria Demonstration Client Appendix C Basic Components all shipments IntroductionRobot Package Optional Components and Attachments partial listSupport Website User-Supplied Components / System RequirementsAdditional Resources NewsgroupsSupport Support@activmedia.comWhat Is Pioneer? Pioneer Reference PlatformPlus MOTOR-POWER Board Hitachi H8S-BASED MicrocontrollerClient Software Http//robots.activmedia.comSupporting Software Pioneer LegacyPioneer 1 and AT Pioneer 2 and PeopleBotActivMedia Robotics Modes of Operation Server ModeMaintenance and Standalone Modes Joydrive and Self Test ModesSpecifications & Controls Physical CharacteristicsMain Components Motor Stop ButtonUser Control Panel P3-DX User Control PanelBody, Nose, and Accessory Panels Sonar Arrays with Gain AdjustmentBatteries and Power Motors, Wheels, and Position EncodersBattery Indicators and Low Voltage Conditions RechargingManual Operation Robot Power OFF Manual Operation Robot Power and Systems onDOCKING/CHARGING System Radio Controls and Accessories Client-server connection optionsOnboard PC Computer Control PanelOperating the Onboard PC PC NetworkingUPS and Genpowerd Safety Aros Watchdogs Preparative Assembly Install AriaQuick Start Starting UP Client and Server Install BatteriesClient-Server Communications Drive Self-TestDemo Startup Options IpthruSuccessful Connection Operating the Aria Demonstration ClientDisconnecting Quickstart TroubleshootingProper Connections OFF SRIsimJoydrive Mode Joydrive and Self-TestsEngaging SELF-TESTS ActivMedia Robotics Operating System CLIENT-SERVER Communication Packet ProtocolsPacket Errors Packet ChecksumServer Information Packets Multiply by DistConvFactor‡Client Commands Before Client ConnectionP2OS CLIENT-SERVER Connection Keeping the Beat-PULSE Autoconfiguration SYNC2Opening the Servers-OPEN Closing the Connection-CLOSEMotion Commands RotationActivMedia Robots in Motion Platform Dependent and Independent VariablesPID Controls Internal coordinate systemSonar Enable/Disabling SonarPosition Integration Polling Sequence and RateStalls and Emergencies 11-15 ReservedAccessory Commands and Packets Packet ProcessingCONFIGpac and Config Command Serial Port CommunicationsChanging Baud Rates and Autobauding HOST-to-AUX Serial Transfers Encoder PacketsGripper packets Sounds TCM2Onboard PC Heading Correction GyroInput Output I/O User I/OBumper and IR I/O IO packetsDigital Port Controls Expansion I/ODOCKING/CHARGING System I/O Docking/Charging ServersMonitoring the Recharge Cycle Charge State Overcharge ~Volts Charge current ID7ActivMedia Robotics Operating System Aros Maintenance Mode Updating & Reconfiguring ArosWhere to GET Aros Software Simple Aros UpdatesUpdating and Reconfiguring Aros Starting AroscfConfiguring Aros Operating Parameters Interactive CommandsChanging Parameters Save Your Work PID ParametersKeyword Ticksmm and Revcount 0056 0057 0060 0034Stallval and Stallcount BumpersUpdating and Reconfiguring Aros Drive Lubrication Maintenance & RepairTire Inflation BatteriesAlternative Battery Chargers Automated Docking/Charging SystemTightening the AT Drive Belt Getting Inside Removing the NoseOpening the Deck Factory RepairsH8S Ports & Connections Power ConnectorAppendix a H8S MicrocontrollerSerial Ports User I/O, Gripper, Docking/Charging PortOD7 Expansion I/O BusBumper Ports Motors, Encoders, and IR SensorsUser Control Interface Joystick Port Pioneer 3 and 2-PLUS MOTOR-POWER Board Configuration for Current and Temperature SensingAppendix B Controller Power and Interface Radio, Auxiliary, and User Power ConnectorsIR Signal and Power GNDRadio Modem Settings Appendix CSerial Ethernet Settings Console modeAppendix D Webpage Peer-to-Peer NetworkingSpecifications Appendix EControls and Ports Warranty & Liabilities Columbia Drive Amherst, NH 603
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