ActivMedia Robotics
DCHEAD | 22 | sint | Heading setpoint relative to last setpoint; | 1.0 |
|
| ||
|
|
| ± degrees (+ = ccw) |
|
|
|
| |
SETRA | 23 | sint | Rotational (+)acceleration or | 1.0 | 1.0 |
| ||
|
|
|
|
| – | |||
SONAR | 28 | int | 1=enable, 0=disable all the sonar; otherwise, use | 1.0 | 1.0 | – | ||
|
|
| bit 0 to enable (1) or disable (0) a particular array |
|
|
| ||
|
|
|
|
|
| |||
STOP | 29 | none | Stops robot; motors remain enabled | 1.0 | 1.0 | – | ||
DIGOUT | 30 | 2 | Bits | byte mask that selects the output | 1.716 | 1.2 | 4.2 | |
|
| bytes | port(s); Bits |
|
|
| ||
|
|
| port(s). |
|
|
|
|
|
VEL2 | 32 | 2 | Independent wheel velocities; Bits | 1.0 | 1.0 | 4.1 | ||
|
| bytes | wheel, Bits |
|
|
| ||
|
|
| ±4mm/sec; AROS/P2OS in 20mm/sec increments |
|
|
| ||
GRIPPER | 33 | int | Gripper server commands. See the Pioneer 2 | 1.0 | 1.3 | 4.0 | ||
|
|
| Gripper or PeopleBot manual for details. |
|
|
| ||
ADSEL | 35 | int | Selects the A/D port number for reporting Anport | 1.0 | 1.2 | – | ||
|
|
| value in standard SIP. |
|
|
|
| |
GRIPPERVAL | 36 | int | Gripper server values. See Pioneer 2 Gripper or | 1.0 |
| – | ||
|
|
| PeopleBot manual for details. |
|
|
| ||
GRIPREQUEST | 37 | none | Request one (1), a continuous stream (>1), or stop | 1.0 | 1.E | – | ||
|
|
| (0) Gripper SIPs. See Pioneer 2 Gripper or |
|
|
| ||
|
|
| PeopleBot manual for details. |
|
|
| ||
IOREQUEST | 40 | none | Request one (1), a continuous stream (>1), or stop | 1.0 | 1.E | – | ||
|
|
| (0) IO SIPs |
|
|
|
|
|
PTUPOS | 41 | 2 | Msbyte is port number | – | 1.2 | 4.5 | ||
|
| bytes | width in 100µsec units PSOS or 10µsec units |
|
|
| ||
|
|
| P2OS |
|
|
|
|
|
TTY2 | 42 | string | Sends string argument to serial device connected | 1.0 | 1.0 | 4.2 | ||
|
|
| to AUX (AUX1 on H8S) port |
|
|
| ||
GETAUX | 43 | int | Request to retrieve | 1.0 | 1.4 | – | ||
|
|
| (AUX1 on H8S) serial port; 0 flushes the buffer. |
|
|
| ||
BUMP_STALL | 44 | int | Stall robot if front (1), rear (2) or either (3) bumps | 1.0 | 1.5 | – | ||
|
|
| contacted. Off is 0. See BumpStall FLASH for |
|
|
| ||
|
|
| default. |
|
|
|
|
|
TCM2 | 45 | int | TCM2 Module commands; see TCM2 Manual for | 1.0 | 1.6 | – | ||
|
|
| details. |
|
|
|
|
|
DOCK | 46 | int | Default is OFF; 1=enable docking signals; |
|
|
| ||
|
|
| 2=enable docking signals and stop the robot when | – | 1.C | – | ||
|
|
| docking power sensed. |
|
|
|
| |
JOYDRIVE | 47 | int | Default is O=OFF; 1=allow joystick drive from | 1.0 | 1.G | – | ||
|
|
| hardware port while also connected with a client |
|
|
| ||
SONAR_CYCLE | 48 | int | Change the sonar cycle time; arg in milliseconds | 1.8 | – | – | ||
HOSTBAUD | 50 | int | Reset the HOST serial port baud rate to 0=9600, | 1.8 | – | – | ||
|
|
| 1=19200, 2=38400, 3=57600, or 4=115200 |
|
|
| ||
AUX1BAUD | 51 | int | Resets the AUX1 serial port baud rate | 1.8 | – | – | ||
AUX2BAUD | 52 | int | Resets the AUX2 serial port baud rate | 1.8 | – | – | ||
E_STOP | 55 | none | Emergency stop, overrides deceleration | 1.0 | 1.8 | – | ||
|
|
|
|
|
|
| ||
M_STALL | 56 | int | 1 (default)=Motors stop button causes stall; 0 | 1.0 | 1.E | – | ||
|
|
| (P2OS default)=off |
|
|
|
| |
LEDGE | 57 | int | 0 if inactive; 1 if stop when | 1.5 | – | – | ||
|
|
| if impose speed control only; 3 if both stop and |
|
|
| ||
|
|
| speed control |
|
|
|
|
|
STEP | 64 | none | 1.0 | 1.0 | 3.x | |||
|
|
|
|
|
|
| ||
TTY3 | 66 | string | Sends string argument to serial device connected | 1.0 | – | – | ||
|
|
| t AUX2 H8S | i l | t |
|
|
|
16No, this isn’t a
35
