Pioneer 3TM, 2TM manual Save Your Work, PID Parameters

Updating and Reconfiguring AROS

See the respective control command and parameter Tables nearby for a full description of AROScf operation.

Table 16. AROScf control commands

COMMAND			DESCRIPTION
KEYWORD	<value>		Alone, a keyword displays current,				edited
			value. Add argument to change current value.
c or constants			Display all constant parameters. You cannot
			edit these.
v or variables			Display all variable parameter values which you
			may edit and eventually save to your robot’s
			FLASH.
r	or	restore	Restores variables to		values	currently	stored
<paramsfile>			in FLASH or from a paramsfile on disk
save <paramsfile>			Saves current edited values to FLASH or saves
			current edited values to pathname on disk for
			later reference.
q or quit			Exits AROScf.
connect <portname>			Connects AROScf with microcontroller through
			serial port (COM1 or /dev/ttyS0 default)
disconnect			Disconnects	AROScf	from	your	robot’s
			microcontroller
? or help			Displays these commands and descriptions.

SAVE YOUR WORK

While changing parameter values in AROScf Interactive Mode, you are editing a temporary copy; your changes are not put into effect in your robot’s FLASH until you explicitly "save" them to the microcontroller.

Also use the AROScf save command to save a copy of the parameters to a disk file for later upload. We strongly recommend that you save each version of your robot’s parameter values to disk for later retrieval should your microcontroller get damaged or its FLASH inadvertently erased. Default parameter files come with each AROS distribution, but it is tedious to reconstruct an individual robot’s unique configuration.

PID PARAMETERS

The AROS configuration parameters include settings for the PID motors controls for translation and rotation of the robot. The translation values also are used for independent-wheel mode. The default values are for a moderately loaded robot. Experiment with different values to improve the performance of your robot in its current environment.

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