Pioneer 2 / PeopleBot manual Input / Output I/O, TCM2pac and TCM2 Command, DIGIN, TIMER, and Adsel

ActivMedia Robotics

Table 10. GRIPPERpac state byte

bit	Function	State
0	Grip limit	paddles fully open when 0; otherwise between or closed
1	Lift limit	Lift fully up or down when 0; otherwise in between
2	Outer breakbeam	obstructed when 0; nothing in between when 1
3	Inner breakbeam	obstructed when 0; nothing in between when 1
4	Left paddle	grasping when 0
5	Right paddle	grasping when 0
6	Lift	moving when 1
7	Gripper	moving when 1

The AmigoBot Sounds playlist consists of a series of one to 255 24-byte long sound references, followed by individual sound data. Sound references may be NULL or redundant.

Sound references consist of a 16-byte sound name followed by two long integers, which specify the sound data position and length in the playlist. The PLAYLIST P2OS command #91 with any or no argument responds with a packet of 25 NULL bytes, telling the client that your P2OS-based robot does not have any onboard sounds.

TCM2pac and TCM2 Command

The TCM2 accessory is an integrated inclinometer, magnetometer, thermometer, and compass that attaches to the AUX serial port of the P2OS microcontroller. When attached and enabled, special TCM2 compass servers read and report the heading as the compass byte in the standard SIP. Use the TCM2 command to request additional information from the device in the form of the TCM2pac. See the TCM2 Manual and supporting software that accompanies the device for details.

Input / Output (I/O)

Your Pioneer 2 or PeopleBot comes with a number of I/O ports that you may use for sensor and other accessories and custom attachments. See Appendix A for port locations on the microcontroller. The various I/O states and readings appear in the standard SIP and may be manipulated with P2OS client commands. P2OS 1.E also introduced a new SIP for convenient access to your Pioneer 2’s I/O (see a subsequent section for details).

DIGIN, TIMER, and ADSEL

The states of the eight digital input ports, native to the controller, get mapped as a single byte, whose value is continuously updated and reported in each standard SIP (Table 4). For example, examine Saphira's sfRobot structure value digin:

sfSMessage("Digin is %i",sfRobot.digin);

When not connected, the digital input port values may vary and change without warning.

The digital input ports 4-7 (ID4-7) also may be used as A/D input ports (see below). Use the ADSEL client command to select the A/D port that is to appear in the P2OS SIP analog value. The default port is #5, the dedicated A/D port on the system. The P2OS SIP reports the currently selected analog input port number.

In the following example, the first Saphira statement queries for the current analog port and its A/D value. The second Saphira command changes the selected port which value gets reported through the last Saphira command in the example:

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