Pioneer 2TM, 3TM manual HOST-to-AUX Serial Transfers, Encoder Packets, Gripper packets

ActivMedia Robotics

For auto-baud, the HOST serial port automatically reverts to its FLASH default baud rate if, after being reset by the HOSTBAUD client command, it does not receive a subsequent and valid client-command packet within 500 milliseconds.

HOST-to-AUX Serial Transfers

Use the client-side TTY2 command #42 with a string argument to have that string sent out the AUX1 port to the attached serial device, such as a robotic camera. Similarly, use the TTY3 command #66 to send a string argument to the AUX2 port.

AROS also maintains two circular buffers for incoming serial data from the AUX1 and AUX2 ports. On request, AROS sends successive portions of the buffers to your client via the HOST port in the respective SERAUXpac (type = 176; 0xB0) and SERAUX2pac (type = 184; 0xB8) SIPs. Use the GETAUX command 43 for AUX1 or GETAUX2 command number 67 for AUX2. Use the integer argument value of zero to flush the contents of the respective buffer. Use an argument value of up to 253 bytes to have AROS wait to collect the requested number of incoming AUX-port serial bytes and them send them in the respective SERAUXpac or SERAUX2pac SIP.

ENCODER PACKETS

Issue the ENCODER command #19 with an argument of one for a single, or with an argument value of two or more for a continuous stream of ENCODERpac (type 144; 0x90) SIPs. Discontinue the packets with the ENCODER command #19 with an argument of zero.

Table 9. ENCODERpac SIP contents

Header	integer	Exactly 0xFA, 0xFB
Byte Count	byte	Number of data bytes + 2 (checksum)
Left Encoder	integer	Least significant, most significant portion of the
	integer	current accumulated encoder counts from the left wheel
Right Encoder	integer	Least significant, most significant portion of the
	integer	current accumulated encoder counts from the left wheel
Checksum	integer	Checksum for packet integrity

Gripper packets

AROS controls the Gripper accessory for the Pioneer and Performance PeopleBot robots. The client sends commands to the Gripper servers and gets Gripper status information from the standard SIP. Please consult the respective manuals for details.

Table 10. GRIPPERpac packet contents

HEADER	int	Exactly 0xFA, 0xFB
BYTE COUNT	byte	Number of data bytes + 2 (checksum)
TYPE	byte	Packet type = 0xE0
HASGRIPPER	byte	Gripper type: 0=none; 1=User; 2=PeopleBot
GRIP_STATE	byte	See nearby Table
GRASP_TIME	byte	MS time controls grasping pressure
CHECKSUM	integer	Computed checksum

AROS supports a GRIPPERpac (type=224; 0xE0) packet type and related GRIPREQUEST P2OS command #37 to retrieve setup and status information from the servers.

Normally disabled, your client program may request one or a continuous stream (command argument > one) of Gripper packets. Send GRIPREQUEST with the argument value zero to stop continuous packets.

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