Pioneer 2 / PeopleBot manual Editing P2OS Parameters

ActivMedia Robotics

Step 6: Save Your Work

Use the save command to save your configuration changes to FLASH or to a disk file. We strongly recommend that you save each of your robots’ parameter values to disk for later retrieval should your microcontroller get damaged or it’s FLASH inadvertently erased. Default parameter files come with each P2OS distribution, but it is tedious to reconstruct an individual robot’s unique configuration.

Editing P2OS Parameters

To view the list of current P2OS constants or variables, type ‘a’, 'c' or 'v', respectively, followed by a return (Enter). Similarly, type '?' or 'help' to see a list of p2oscf commands.

Table 14. p2oscf control commands

Command			Description
keyword <value>			Alone, keyword displays current, edited value. Add
			value argument to change current value.
c or constants			Display P2OS constant values. User cannot change.
v or variables			Display current, edited P2OS operational values;
			may be different than values currently stored in
			FLASH on the robot.
a or arm			Display current, edited P2OS-based Arm-related
			values. May be different than those stored in
			FLASH on the robot.
r	or	restore	Restores edited (p2oscf) variables to values
<pathname>			currently stored in FLASH or from file, if
			argument included.
save <pathname>			Saves current edited values to FLASH and exits
			program or saves current edited values to disk for
			later reference and continues in editor.
q or quit			Exits p2oscf without saving any changes to flash.
? or help			Displays commands and descriptions.

To see an individual parameter's current value, type its keyword alone. To change a P2OS parameter's value, type its keyword followed by the replacement value. That value may be a string (no quotes or spaces) or a decimal or hexadecimal ("0xN") number. For example, to change the watchdog timeout to four seconds, type:

> watchdog 4000

or

> watchdog 0xfa0

The critical operating parameters for your robot are revcount, encoder, and the PID control parameters. If you get them wrong, your robot won’t run properly. Note, too, that your p2oscf-edited parameters are not used by P2OS unless and until you save them to FLASH. And, too, you may over-ride many of these parameters with respective P2OS commands from the client.

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