CONFIGpac and Config Command

ActivMedia Robotics Operating System

		received a command from a client. Restarts on restoration
		of connection.
P2MPACS	byte	1 enables alternative SIP.
STALLVAL	int	Maximum PWM before stall. If > PwmMax, never.
STALLCOUNT	int	Ms time after a stall for recovery. Motors not engaged
		during this time.
JOYVEL	int	Joystick translation velocity setting, mm/sec
JOYRVEL	int	Joystick rotation velocity setting in deg/sec
ROTVELMAX	int	Current max rotational speed; deg/sec.
TRANSVELMAX	int	Current max translational speed; mm/sec.
ROTACC	int	Current rotational acceleration; deg/sec2
ROTDECEL	int	Current rotational deceleration; deg/sec2
ROTKP	int	Current Proportional PID for rotation
ROTKV	int	Current Derivative PID for rotation
ROTKI	int	Current Integral PID for rotation
TRANSACC	int	Current translational acceleration; mm/sec2
TRANSDECEL	int	Current translational deceleration; mm/sec2
TRANSKP	int	Current Proportional PID for translation
TRANSKV	int	Current Derivative PID for translation
TRANSKI	int	Current Integral PID for translation
ADDED IN AROS	1.6
FRONTBUMPS	byte	Number of front bumper segments
REARBUMPS	byte	Number of rear bumper segments
ADDED IN AROS	1.7

CHARGER

byte

1 if P3 or 2 if PowerBot automated charger mechanism and circuitry installed in robot; otherwise 0

ADDED IN AROS 1.8

SONARCYCLE	byte	Sonar duty cycle time in milliseconds
AUTOBAUD	byte	1	if	can	change baud rates; 2 if auto-baud implemented
HASGYRO	byte	1	if	has	the gyro device; otherwise 0

Send the CONFIG command #18 without an argument to have AROS send back a CONFIGpac SIP packet type 32 (0x20) server information packet containing the robot's operational parameters. Use the CONFIGpac to examine many of your robot’s default FLASH_based settings or their working values, when appropriate, as changed by other client commands, such as SETV and ROTKV. A table nearby gives details about the configuration packet data.

SERIAL PORT COMMUNICATIONS

AROS provides two-way communications through the HOST client-server communication port and to and through two auxillary serial ports on the microcontroller, AUX1 and AUX2.

Changing Baud Rates and Autobauding

The baud rates for the HOST, AUX1, and AUX2 ports initially are set from their respective FLASH-based defaults and get reset to those values whenever the controller is reset or upon client disconnection. For advanced serial port management from the client side, in AROS 1.8 and later we provide three client commands which let your software reset the HOST (HOSTBAUD #50), AUX1 (AUX1BAUD #51), and AUX2 (AUX2BAUD #52) serial port baud rates, respectively. Use the integer command argument values: 0=9600, 1=19.2K, 2=38.8K, 3=57.6K or 4=115.2K baud.