Pioneer 2TM, 3TM

ActivMedia Robotics

Table 17. AROS FLASH configuration parameters with values for Pioneer 3–DX

KEYWORD Type Default Description

CONSTANTS Should not be changed

PTYPE str Pioneer Identifies the robot type.

PSTYPE str P3DX Identifies the ActivMedia robot model.

SERNUM str factory Serial number for the robot.

VERNO str 1.x AROS version number

TOPRV int 360 Maximum rotational velocity; deg/sec

TOPTV int 2200 Maximum translation speed; mm/sec

TOPRA int 600 Maximum rotation (de)acceleration; deg/sec2

TOPTA int 4000 Maximum translational (de)acceleration; mm/sec2

TICKSMM int 132 Encoder ticks/mm: (ticks per rev x gear-ratio)

(wheel_diameter x PI)

BATTCONV byte 0 0 if a 12V system; 1 if 24V

VARIABLES Parameters that you may change

NAME str not_set Unique name for your robot.

Maximum of 20 characters, no spaces.

SIP byte 100 Server information packet cycle time in 1 ms

increments. Default is classic 100 ms.

PWMMAX int 400 Maximum motor PWM (500=fully on).

HOSTBAUD byte 0 Baud rate for client-server HOST serial:

0=9.6k, 1=19.2k, 2=38.4k, 3=56.8k, 4=115.2k.

AUXBAUD1 byte 0 Baud rate for AUX serial port 1; see HostBaud

AUXBAUD2 byte 0 Baud rate for AUX serial port 2; see HostBaud

SONARCYCLE byte 40 Sonar cycle time in milliseconds

SONAR1 str 12345678 Ping sequence for sonar array #1. Up to 16

number characters 1-8; 0 to disable the array

SONAR2 str 0 Ping sequence for array #2. See sonar1 above

SONAR3 str 0 Ping sequence for array #3. See sonar1 above

SONAR4 str 0 Ping sequence for array #4. See sonar1 above

LOWBATTERY int 110 In 1/10 volts; microcontroller alarm activated

when battery charge falls below this value.

WATCHDOG int 2000 Ms time before robot automatically stops if it

has not received a command from a client.

Restarts on restoration of connection.

REVCOUNT int 36300 The number of differential encoder ticks for a

360 degree revolution of the robot.

SOUNDTOG byte 1 0 disables the buzzer

P2MPACS byte 0 1 enables alternative SIP.

STALLVAL int 200 Maximum PWM before stall. If > PwmMax, never.

STALLCOUNT int 100 Ms time after a stall for recovery. Motors not

engaged during this time.

HASGYRO byte 0 Set to 1 if you have the gyro accessory

CHARGER byte 0 Set to 1 if P3 or 2 if PowerBot autocharger

mechanism and circuitry installed; otherwise 0

GRIPPER byte 0 Set to 1 if P2/P3 Gripper; 2 if Gripper on

Performance PeopleBot

TCM2 byte 0 TCM2 module connected to 1=AUX1 or 2=AUX2

LEDGESENSE byte 0 0=none; 1=stop on detect; 2=limit speed; 3=stop

and limit speed

BUMPSTALL byte 3 0=disable bump stall; 1=enable rear; 2=enable

front; 3=enable both front and rear bump stalls

INVERTBUMP byte 0 0=none; 1=front; 2=rear; or 3=invert both front

and rear bumper signals

FRONTBUMPS byte 0 Number of front bumper segments

REARBUMPS byte 0 Number of rear bumper segments

ROTVELMAX int 200 Max rotational speed; deg/sec.

TRANSVELMAX int 2000 Max translational speed; mm/sec.

ROTACC int 100 Rotational acceleration; deg/sec2

ROTDECEL int 100 Rotational deceleration; deg/sec2