Pioneer 2TM User Manual
Page 63
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.
S
ERNUM
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/sec
2
TOPTA
int
4000
Maximum translational (de)acceleration; mm/sec
2
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.
AUXBAUD
1
byte
0
Baud rate for AUX serial port 1; see HostBaud
AUXBAUD
2
byte
0
Baud rate for AUX serial port 2; see HostBaud
SONARCYCLE
byte
40
Sonar cycle time in milliseconds
SONAR
1
str
12345678
Ping sequence for sonar array #1. Up to 16
number characters 1-8; 0 to disable the array
SONAR
2
str
0
Ping sequence for array #2. See sonar1 above
SONAR
3
str
0
Ping sequence for array #3. See sonar1 above
SONAR
4
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
P
2
MPACS
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
TCM
2
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/sec
2
ROTDECEL
int
100
Rotational deceleration; deg/sec
2
57