ActivMedia Robotics Operating System

 

 

received a command from a client. Restarts on restoration

 

 

of connection.

P2MPACS

byte

1 enables alternative SIP.

STALLVAL

int

Maximum PWM before stall. If > PwmMax, never.

STALLCOUNT

int

Ms time after a stall for recovery. Motors not engaged

 

 

during this time.

JOYVEL

int

Joystick translation velocity setting, mm/sec

JOYRVEL

int

Joystick rotation velocity setting in deg/sec

ROTVELMAX

int

Current max rotational speed; deg/sec.

TRANSVELMAX

int

Current max translational speed; mm/sec.

ROTACC

int

Current rotational acceleration; deg/sec2

ROTDECEL

int

Current rotational deceleration; deg/sec2

ROTKP

int

Current Proportional PID for rotation

ROTKV

int

Current Derivative PID for rotation

ROTKI

int

Current Integral PID for rotation

TRANSACC

int

Current translational acceleration; mm/sec2

TRANSDECEL

int

Current translational deceleration; mm/sec2

TRANSKP

int

Current Proportional PID for translation

TRANSKV

int

Current Derivative PID for translation

TRANSKI

int

Current Integral PID for translation

ADDED IN AROS

1.6

 

 

 

FRONTBUMPS

byte

Number of front bumper segments

 

 

REARBUMPS

byte

Number of rear bumper segments

ADDED IN AROS

1.7

 

 

 

CHARGER

byte

1 if P3 or 2 if PowerBot automated charger mechanism and circuitry installed in robot; otherwise 0

ADDED IN AROS 1.8

SONARCYCLE

byte

Sonar duty cycle time in milliseconds

AUTOBAUD

byte

1

if

can

change baud rates; 2 if auto-baud implemented

HASGYRO

byte

1

if

has

the gyro device; otherwise 0

CONFIGpac and CONFIG Command

Send the CONFIG command #18 without an argument to have AROS send back a CONFIGpac SIP packet type 32 (0x20) server information packet containing the robot's operational parameters. Use the CONFIGpac to examine many of your robot’s default FLASH_based settings or their working values, when appropriate, as changed by other client commands, such as SETV and ROTKV. A table nearby gives details about the configuration packet data.

SERIAL PORT COMMUNICATIONS

AROS provides two-way communications through the HOST client-server communication port and to and through two auxillary serial ports on the microcontroller, AUX1 and AUX2.

Changing Baud Rates and Autobauding

The baud rates for the HOST, AUX1, and AUX2 ports initially are set from their respective FLASH-based defaults and get reset to those values whenever the controller is reset or upon client disconnection. For advanced serial port management from the client side, in AROS 1.8 and later we provide three client commands which let your software reset the HOST (HOSTBAUD #50), AUX1 (AUX1BAUD #51), and AUX2 (AUX2BAUD #52) serial port baud rates, respectively. Use the integer command argument values: 0=9600, 1=19.2K, 2=38.8K, 3=57.6K or 4=115.2K baud.

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Pioneer 3TM, 2TM manual CONFIGpac and Config Command, Serial Port Communications, Changing Baud Rates and Autobauding