Pioneer 2TM User Manual
Page 41
ActivMedia Robotics
DCHEAD
22
sint
Heading setpoint relative to last setpoint;
± degrees (+ = ccw)
1.0
SETRA
23
sint
Rotational (+)acceleration or
(-)deceleration, in degrees/sec/sec
1.0 1.0
–
SONAR
28
int
1=enable, 0=disable all the sonar; otherwise, use
bit 0 to enable (1) or disable (0) a particular array
1-4, as specified in argument bits 1-4.
1.0 1.0 –
STOP
29 none Stops robot; motors remain enabled
1.0
1.0
–
DIGOUT
30
2
bytes
Bits 8-15 is a byte mask that selects the output
port(s); Bits 0-7 set (1) or reset (0) the selected
port(s).
1.7
16
1.2 4.2
VEL
2 32
2
bytes
Independent wheel velocities; Bits 0-7 for right
wheel, Bits 8-15 for left wheel; PSOS is in
±4mm/sec; AROS/P2OS in 20mm/sec increments
1.0 1.0 4.1
GRIPPER
33
int
Gripper server commands. See the Pioneer 2
Gripper or PeopleBot manual for details.
1.0 1.3 4.0
ADSEL
35
int
Selects the A/D port number for reporting Anport
value in standard SIP.
1.0 1.2 –
GRIPPERVAL
36
int
Gripper server values. See Pioneer 2 Gripper or
PeopleBot manual for details.
1.0 –
GRIPREQUEST
37 none Request one (1), a continuous stream (>1), or stop
(0) Gripper SIPs. See Pioneer 2 Gripper or
PeopleBot manual for details.
1.0 1.E –
IOREQUEST
40 none Request one (1), a continuous stream (>1), or stop
(0) IO SIPs
1.0 1.E –
PTUPOS
41
2
bytes
Msbyte is port number (1-4), lsbyte is pulse
width in 100µsec units PSOS or 10µsec units
P2OS
– 1.2 4.5
TTY
2
42 string Sends string argument to serial device connected
to AUX (AUX1 on H8S) port
1.0 1.0 4.2
GETAUX
43
int
Request to retrieve 1-200 bytes from the AUX
(AUX1 on H8S) serial port; 0 flushes the buffer.
1.0 1.4 –
BUMP
_
STALL
44
int
Stall robot if front (1), rear (2) or either (3) bumps
contacted. Off is 0. See BumpStall FLASH for
default.
1.0 1.5 –
TCM
2
45
int
TCM2 Module commands; see TCM2 Manual for
details.
1.0 1.6 –
DOCK
46
int
Default is OFF; 1=enable docking signals;
2=enable docking signals and stop the robot when
docking power sensed.
–
1.C
–
JOYDRIVE
47
int
Default is O=OFF; 1=allow joystick drive from
hardware port while also connected with a client
1.0 1.G –
SONAR
_
CYCLE
48
int
Change the sonar cycle time; arg in milliseconds
1.8
–
–
HOSTBAUD
50
int
Reset the HOST serial port baud rate to 0=9600,
1=19200, 2=38400, 3=57600, or 4=115200
1.8 – –
AUX
1
BAUD
51
int
Resets the AUX1 serial port baud rate
1.8
–
–
AUX
2
BAUD
52
int
Resets the AUX2 serial port baud rate
1.8
–
–
E
_
STOP
55 none Emergency stop, overrides deceleration
1.0
1.8
–
M_
STALL
56
int
1 (default)=Motors stop button causes stall; 0
(P2OS default)=off
1.0 1.E –
LEDGE
57
int
0 if inactive; 1 if stop when near-IRs triggered; 2
if impose speed control only; 3 if both stop and
speed control
1.5 – –
STEP
64 none Single-step mode (simulator only)
1.0
1.0
3.x
TTY
3
66 string Sends string argument to serial device connected
t AUX2 H8S
i l
t
1.0 – –
16
No, this isn’t a misprint—the DIGOUT command was mistakenly omitted until version 1.7.
35