Pioneer 3TM, 2TM manual Client Commands, Before Client Connection

ActivMedia Robotics Operating System

CLIENT COMMANDS

AROS has a structured command format for receiving and responding to directions from a client for control and operation of your ActivMedia robot or the simulator. Client commands are comprised of a one-byte command number optionally followed, if required by the command, by a one-byte description of the argument type and then the argument value.

Table 4. AROS/P2OS/PSOS client command packet protocol

COMPONENT	BYTES	VALUE	DESCRIPTION
HEADER	2	0xFA, 0xFB	Packet header; same for client and server
BYTE COUNT	1	N	Number of command/argument bytes plus
			Checksum’s two bytes, but not including Byte Count
			itself or the header bytes. Maximum of 249.
COMMAND	1	0 - 255	Client command number;
NUMBER			see Table 7.
ARGUMENT	1	0x3B or	Required data type of command argument:
TYPE		0x1B or	positive integer,
		0x2B	negative or absolute integer,
			or string (ARGSTR)
ARGUMENT	n	data	Command argument; always 2-byte integer or string
			containing length prefix
CHECKSUM	2	computed	Packet integrity checksum

Table 5. AROS/P2OS/PSOS command set

COMMAND	#	ARGS	DESCRIPTION	AROS	P2OS	PSOS
			Before Client Connection
SYNC0	0	none	Start connection. Send in sequence. AROS echoes	1.0	1.0	3.x
SYNC1	1	none	synchronization commands back to client, and
SYNC2	2	none	robot-specific autosynchronization after SYNC2.

			After Established Connection
PULSE	0	none	Resets server watchdog	1.0	1.0	3.x
OPEN	1	none	Starts the AROS servers	1.0	1.0	3.x
CLOSE	2	none	Close servers and client connection	1.0	1.0	3.x
POLLING	3	string	Change sonar polling sequence (see text)	1.0	1.0	3.9
ENABLE	4	int	1=enable; 0=disable the motors	1.0	1.0	–
SETA	5	sint	Translational acceleration, if positive, or	1.0	1.0
			deceleration, if negative; mm/sec/sec			–
SETV	6	int	Sets maximum translational velocity; mm/sec	1.0	1.0	4.8
SETO	7	none	Resets local position to 0,0,0 origin	1.0	1.0	3.x
MOVE	8	sint	Translate (+) forward or (-) back mm distance	1.0	1.0	–
ROTATE	9	sint	Rotate (+) counter- or (-) clockwise degrees/sec	1.0	1.0	–
SETRV	10	int	Sets maximum rotational velocity; degrees/sec	1.0	1.0	4.8
VEL	11	sint	Translate at mm/sec forward (+) or backward (-)	1.0	1.0	3.x
HEAD	12	sint	Turn to absolute heading; ±degrees (+ = ccw )	1.0	1.0	4.2
DHEAD	13	sint	Turn relative to current heading; (+) counter- or	1.0	1.0	3.x
			(–) clockwise degrees
SAY	15	string	As many as 20 pairs of duration (20 ms	1.0	1.0	4.2
			increments) /tone (half-cycle) pairs
CONFIG	18	none	Request configuration SIP	1.0	1.4	–
ENCODER	19	int	Request one (1), a continuous stream (>1), or stop	1.0	1.4	–
			(0) encoder SIPs
RVEL	21	sint	Rotate at (+) counter- or (–) clockwise;	1.0	1.0	4.2
			degrees/sec
DCHEAD	22	sint	Heading setpoint relative to last setpoint;	1.0

34