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| ActivMedia Robotics | ||
Table 17. AROS FLASH configuration parameters with values for Pioneer | |||||||
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KEYWORD | Type | Default | Description |
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CONSTANTS |
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| Should not be changed |
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PTYPE | str | Pioneer | Identifies the robot type. |
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PSTYPE | str | P3DX | Identifies the ActivMedia robot model. |
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SERNUM | str | factory | Serial number for the robot. |
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VERNO | str | 1.x | AROS version number |
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TOPRV | int | 360 | Maximum rotational velocity; deg/sec |
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TOPTV | int | 2200 | Maximum translation speed; mm/sec |
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TOPRA | int | 600 | Maximum rotation (de)acceleration; deg/sec2 |
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TOPTA | int | 4000 | Maximum translational (de)acceleration; mm/sec2 |
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TICKSMM | int | 132 | Encoder ticks/mm: (ticks per rev x |
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| (wheel_diameter x PI) |
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BATTCONV | byte | 0 | 0 if a 12V system; 1 if 24V |
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VARIABLES |
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| Parameters that you may change |
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NAME | str | not_set | Unique name for your robot. |
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| Maximum of 20 characters, no spaces. |
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SIP | byte | 100 | Server information packet cycle time in 1 ms |
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| increments. Default is classic 100 ms. |
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PWMMAX | int | 400 | Maximum motor PWM (500=fully on). |
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HOSTBAUD | byte | 0 | Baud rate for |
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| 0=9.6k, | 1=19.2k, 2=38.4k, | 3=56.8k, | 4=115.2k. |
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AUXBAUD1 | byte | 0 | Baud rate for AUX serial port 1; see HostBaud |
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AUXBAUD2 | byte | 0 | Baud rate for AUX serial port 2; see HostBaud |
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SONARCYCLE | byte | 40 | Sonar cycle time in milliseconds |
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SONAR1 | str | 12345678 | Ping sequence for sonar array #1. Up to 16 |
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| number characters |
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SONAR2 | str | 0 | Ping sequence for array #2. See sonar1 above |
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SONAR3 | str | 0 | Ping sequence for array #3. See sonar1 above |
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SONAR4 | str | 0 | Ping sequence for array #4. See sonar1 above |
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LOWBATTERY | int | 110 | In 1/10 volts; microcontroller alarm activated |
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| when battery charge falls below this value. |
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WATCHDOG | int | 2000 | Ms time before robot automatically stops if it |
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| has not received a command from a client. |
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| Restarts on restoration of connection. |
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REVCOUNT | int | 36300 | The number of differential encoder ticks for a |
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| 360 degree revolution of the robot. |
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SOUNDTOG | byte | 1 | 0 disables the buzzer |
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P2MPACS | byte | 0 | 1 enables alternative SIP. |
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STALLVAL | int | 200 | Maximum PWM before stall. If > PwmMax, never. |
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STALLCOUNT | int | 100 | Ms time after a stall for recovery. Motors not |
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| engaged during this time. |
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HASGYRO | byte | 0 | Set to 1 if you have the gyro accessory |
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CHARGER | byte | 0 | Set to 1 if P3 or 2 if PowerBot autocharger |
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| mechanism and circuitry installed; otherwise 0 |
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GRIPPER | byte | 0 | Set to 1 if P2/P3 Gripper; 2 if Gripper on |
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| Performance PeopleBot |
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TCM2 | byte | 0 | TCM2 module connected to 1=AUX1 or 2=AUX2 |
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LEDGESENSE | byte | 0 | 0=none; 1=stop on detect; 2=limit speed; 3=stop |
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| and limit speed |
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BUMPSTALL | byte | 3 | 0=disable bump stall; 1=enable rear; 2=enable |
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| front; 3=enable both front and rear bump stalls |
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INVERTBUMP | byte | 0 | 0=none; 1=front; 2=rear; or 3=invert both front |
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| and rear bumper signals |
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FRONTBUMPS | byte | 0 | Number of front bumper segments |
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REARBUMPS | byte | 0 | Number of rear bumper segments |
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ROTVELMAX | int | 200 | Max rotational speed; deg/sec. |
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TRANSVELMAX | int | 2000 | Max translational speed; mm/sec. |
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ROTACC | int | 100 | Rotational acceleration; deg/sec2 |
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ROTDECEL | int | 100 | Rotational deceleration; deg/sec2 |
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57
