ActivMedia Robotics
STARTING UP CLIENT AND SERVER...........................................................................................................24
Drive Self-Test.......................................................................................................................................24
Client Server Connection......................................................................................................................24
Demo Startup Options...........................................................................................................................25
A Successful Connection....................................................................................................................... 26
OPERATING THE ARIA DEMONSTRATION CLIENT.....................................................................................26
DISCONNECTING........................................................................................................................................ 27
QUICKSTART TROUBLESHOOTING..............................................................................................................27
Proper Connections...............................................................................................................................27
SRIsim................................................................................................................................................... 28
CHAPTER 5 JOYDRIVE AND SELF-TESTS........................................................................................29
JOYDRIVE MODE........................................................................................................................................29
ENGAGING SELF-TESTS..............................................................................................................................30
CHAPTER 6 ACTIVMEDIA ROBOTICS OPERATING SYSTEM.....................................................31
CLIENT-SERVER COMMUNICATION PACKET PROTOCOLS...........................................................................31
Packet Checksum...................................................................................................................................32
Packet Errors........................................................................................................................................32
SERVER INFORMATION PACKETS ...............................................................................................................33
CLIENT COMMANDS...................................................................................................................................34
THE CLIENT-SERVER CONNECTION............................................................................................................36
Autoconfiguration (SYNC2)...................................................................................................................37
Opening the Servers—OPEN................................................................................................................37
Keeping the Beat—PULSE....................................................................................................................37
Closing the Connection—CLOSE..........................................................................................................37
MOTION COMMANDS.................................................................................................................................38
ActivMedia Robots in Motion................................................................................................................39
Platform Dependent and Independent Variables..................................................................................39
PID Controls.........................................................................................................................................40
Position Integration...............................................................................................................................41
SONAR....................................................................................................................................................... 41
Enable/Disabling Sonar........................................................................................................................41
Polling Sequence and Rate....................................................................................................................41
STALLS AND EMERGENCIES........................................................................................................................ 42
ACCESSORY COMMANDS AND PACKETS.................................................................................................... 43
Packet Processing.................................................................................................................................43
CONFIGpac and CONFIG Command..................................................................................................44
SERIAL PORT COMMUNICATIONS................................................................................................................44
Changing Baud Rates and Autobauding...............................................................................................44
HOST-to-AUX Serial Transfers.............................................................................................................45
ENCODER PACKETS....................................................................................................................................45
Gripper packets.....................................................................................................................................45
Sounds...................................................................................................................................................46
TCM2.....................................................................................................................................................46
Onboard PC..........................................................................................................................................47
Heading Correction Gyro......................................................................................................................47
INPUT OUTPUT (I/O).................................................................................................................................. 48
User I/O.................................................................................................................................................48
Bumper and IR I/O................................................................................................................................49
IO packets..............................................................................................................................................49
Expansion I/O........................................................................................................................................50
DOCKING/CHARGING SYSTEM I/O.............................................................................................................50
Digital Port Controls.............................................................................................................................50
Docking/Charging Servers....................................................................................................................50
Monitoring the Recharge Cycle.............................................................................................................51
CHAPTER 7 UPDATING & RECONFIGURING AROS......................................................................53
WHERE TO GET AROS SOFTWARE............................................................................................................53
AROS MAINTENANCE MODE....................................................................................................................53
SIMPLE AROS UPDATES............................................................................................................................53
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