Pioneer Module Mobile manual Appendix B, Pioneer Server Information Packet

8.Appendix B

Pioneer Server Information Packet

Name

Data Type

Description

Header	int	Exactly 0xFA, 0xFB
Byte Count	byte	Number of data bytes + 2; must be less than 201
		(0xC9)
Status	byte = 0x3S; where S =	Motors status
	sfSTATUSNOPOWER	Motors power off
	sfSTATUSSTOPPED	Motors stopped
	sfSTATUSMOVING	Robot moving
Xpos	unsigned int (15 ls-bits)	Wheel-encoder integrated coordinates; platform-
		dependent units—multiply by
Ypos	unsigned int (15 ls-bits)	DistConvFactor in the parameter file to convert to
		mm; roll-over ~ 3 m
Th pos	signed int	Orientation in platform-dependent units—multiply
		by AngleConvFactor for radians
L vel	signed int	Wheel velocities (respective Left and Right) in
		platform-dependent units—
R vel	signed int	multiply by VelConvFactor to convert to mm/sec.
Battery	byte	Battery charge in tenths of volts
Bumpers	2 bytes - L and R	Motor stall indicators
Bumpers	unsigned int
Control	signed int	Setpoint of the server’s angular position servo—
		multiply by AngleConvFactor for radians
PTU	unsigned int	Pulse width of position servo
Say	byte	verbal/sound clues
Sonar	byte	Number of new sonar readings included in
readings		information packet; readings follow:
Sonar num	byte	Sonar number
Sonar range	unsigned int	Sonar reading—multiply by RangeConvFactor for
		mm
Input timer	unsigned int	User input timer reading
User Analog	byte	User analog input reading
User Input	byte	User digital input pins
User Output	byte	User digital output pins
Checksum	int	Checksum (see previous section)

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