Pioneer 3TM, 2TM manual Motion Commands, Rotation

Page 44

ActivMedia Robotics Operating System

With AROS versions 1.3 and later, many of the controller’s operating parameters return to their FLASH-based default values upon disconnection with the client.18 For example, if the FLASH default for the maximum velocity is 1000 millimeters per second, and your client uses the SETV command #6 to reset the maximum velocity to 500 millimeters per second, the maximum velocity automatically will revert back to 1000 after your client disconnects and then reconnects for a subsequent session.

MOTION COMMANDS

The AROS motor-control servers accept several different client-motion commands of two mutually exclusive types: either independent-wheel or platform translational/rotational movements. The AROS servers automatically abandon any translational or rotational setpoints and switch to independent wheel-velocity controls when your client issues the independent-wheel VEL2 command #32, and vice versa.

Note that once connected, ActivMedia robots’ motors are disabled, regardless of their state when last connected. Accordingly, you must either enable the motors manually (white MOTORS button on the User Control Panel) or send the motors ENABLE client command #4 with the argument value of one.19 Monitor the status of the motors with bit 0 of the Flags integer in the standard SIP.

When in independent-wheel velocity mode (VEL2), the robot’s motion-control servers do their best to maintain precise wheel velocities. In practice, wheel slippage and uneven terrain will cause the robot to change heading, which your client must detect and compensate. When in translational/rotational (TR) motion control mode (recommended), your robot’s servers work to maintain both platform speed and heading.

Table 6. AROS motion commands

Rotation

HEAD (#12)

Turn to absolute heading at SETRV max velocity

 

 

DHEAD (#13),

Turn to heading relative to control point at SETRV max velocity

DCHEAD (#22)

 

 

 

ROTATE (#9)

Rotate at SETRV velocity

 

 

Translation

 

 

 

VEL (#11)

Translate forward/reverse at prescribed velocity (SETV maximum)

 

 

MOVE (#8)

Translate distance at SETV max velocity

 

 

Independent

Wheel

VEL2 (#32)

Set velocity for each side of robot (SETV maximum)

18With earlier versions, the changes persisted between sessions, and reverted to the FLASH defaults only after the controller was reset.

19Alternatively, disable the motors with the ENABLE command argument of zero.

38

Page 43 Page 45
Image 44
Page 43 Page 45
Contents Pioneer H8-Series Operations Manual Page Important Safety Instructions Table of Contents Operating the Aria Demonstration Client Appendix C Introduction Robot PackageBasic Components all shipments Optional Components and Attachments partial listUser-Supplied Components / System Requirements Additional ResourcesSupport Website 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 Server Mode Maintenance and Standalone ModesModes of Operation 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 RechargingDOCKING/CHARGING System Manual Operation Robot Power OFFManual Operation Robot Power and Systems on Radio Controls and Accessories Client-server connection optionsOnboard PC Computer Control PanelOperating the Onboard PC PC NetworkingUPS and Genpowerd Safety Aros Watchdogs Quick Start Preparative AssemblyInstall Aria Install Batteries Client-Server CommunicationsStarting UP Client and Server Drive Self-TestDemo Startup Options IpthruSuccessful Connection Operating the Aria Demonstration ClientProper Connections DisconnectingQuickstart Troubleshooting 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 Autoconfiguration SYNC2 Opening the Servers-OPENKeeping the Beat-PULSE Closing the Connection-CLOSEMotion Commands RotationActivMedia Robots in Motion Platform Dependent and Independent VariablesPID Controls Internal coordinate systemEnable/Disabling Sonar Position IntegrationSonar Polling Sequence and RateStalls and Emergencies 11-15 ReservedAccessory Commands and Packets Packet ProcessingChanging Baud Rates and Autobauding CONFIGpac and Config CommandSerial Port Communications Gripper packets HOST-to-AUX Serial TransfersEncoder Packets Sounds TCM2Onboard PC Heading Correction GyroInput Output I/O User I/OBumper and IR I/O IO packetsExpansion I/O DOCKING/CHARGING System I/ODigital Port Controls Docking/Charging ServersMonitoring the Recharge Cycle Charge State Overcharge ~Volts Charge current ID7ActivMedia Robotics Operating System Updating & Reconfiguring Aros Where to GET Aros SoftwareAros Maintenance Mode Simple Aros UpdatesUpdating and Reconfiguring Aros Starting AroscfChanging Parameters Configuring Aros Operating ParametersInteractive Commands Save Your Work PID ParametersKeyword Ticksmm and Revcount 0056 0057 0060 0034Stallval and Stallcount BumpersUpdating and Reconfiguring Aros Maintenance & Repair Tire InflationDrive Lubrication BatteriesTightening the AT Drive Belt Alternative Battery ChargersAutomated Docking/Charging System Getting Inside Removing the NoseOpening the Deck Factory RepairsPower Connector Appendix aH8S Ports & Connections H8S MicrocontrollerSerial Ports User I/O, Gripper, Docking/Charging PortOD7 Expansion I/O BusUser 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 Controller Power and Interface Radio, Auxiliary, and User Power ConnectorsIR Signal and Power GNDRadio Modem Settings Appendix CAppendix D Serial Ethernet SettingsConsole mode Webpage Peer-to-Peer NetworkingSpecifications Appendix EControls and Ports Warranty & Liabilities Columbia Drive Amherst, NH 603
Top Page Image Contents