Pioneer 2 / PeopleBot manual Performance PeopleBot IRs, Pioneer 2 Arm-related SIPs and Commands

ActivMedia Robotics

a byte value for the selected analog port, analog values in the IOpac are integers, with resolution to 12 bits. If either bumper is not installed, its reported value can vary.

Table 11. IOpac packet contents

Header	integer	Exactly 0xFA, 0xFB
Count	byte	Number of data bytes + 2
Type	byte	Packet type = 0xF0
Ni	byte	Number of digtal input bytes
Digin	Ni bytes	Digital input bytes
No	byte	Number of digital output bytes
Digout	No bytes	Digital output bytes
Na	byte	Number of A/D values
A/D	Na ints	A/D values 1-Na; 0-2047 (12-bit
		resolution) = 0-5 VDC
Checksum	integer	Computed checksum

Pioneer 2 Arm-related SIPs and Commands

Please consult the Pioneer 2 Arm Manual for details.

Performance PeopleBot IRs

Two breakbeam IR sensors sense objects which intrude into the Performance PeopleBot’s profile, but which may not be otherwise detected by its sonar or tabletop IR sensors. The left and right IR breakbeams are connected to the User I/O digital input ports ID2 and ID3, respectively. Normally high (1), the respective input port goes low (0) when an object breaks the IR transmitter’s beam to its companion receiver.

The left and right tabletop IR detectors on the Performance PeopleBot are connected to the ID0 and ID1 digital input ports of the User I/O, respectively. Normally high (1), the digital input port goes low (0) when its respective tabletop IR sensor detects an object within its range of operation.

The tabletop and breakbeam IR sensor states appear in the standard P2OS Server Information Packet. Accordingly, to react to the state of an breakbeam or tabletop IR sensor in a Saphira client, for example, test the state of its respective bit:

#define LFT_TTIR 0x01 #define RGT_TTIR 0x02 #define LFT_BREAKBEAM 0x04 #define RGT_BREAKBEAM 0x08

if (sfRobot.digin & LFT_BREAKBEAM = = 0)

/* Something has triggered the left column breakbeam … */

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