The client-server connection, Lient, Erver – Pioneer 2TM User Manual

Page 42: Onnection

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ActivMedia Robotics Operating System

to AUX2 H8S serial port

GETAUX

2

67

int

Request to retrieve 1-200 bytes from the AUX2
H8S serial port; 0 flushes the buffer.

1.1 – –

CHARGE

68

int

1 to deploy autocharging mechanism; 0 to retract

1.7

ARM

70

-

81

int

Arm-related commands; see manual for details

1.3

ROTKP

82

int

Change working rotation Proportional PID value
(not FLASH default)

1.1 1.M –

ROTKV

83

int

Change working rotation Derivative PID value
(not FLASH default)

1.1 1.M –

ROTKI

84

int

Change working rotation Integral PID value (not
FLASH default)

1.1 1.M –

TRANSKP

85 int Change

working

translation

Proportional

PID

value (not FLASH default)

1.1 1.M –

TRANSKV

86

int

Change working translation Derivative PID value
(not FLASH default)

1.1 1.M –

TRANSKI

87

int

Change working translation Integral PID value
(not FLASH default)

1.1 1.M –

REVCOUNT

88 int Change

working

differential

encoder

count

(not FLASH default)

1.1 1.M

PLAYLIST

91 none Request AmigoBot sounds playlist packet

1.0

1.E

SOUNDTOG

92 int 0=mute

or

1=enable

buzzer

1.0 – –

SHUTDOWN

25

0

int

0=cancel shutdown; 1=simulate low-power
condition; 2=initiate computer shutdown

1.6 – –

The number of client commands you may send per second depends on the HOST serial

baud rate, average number of data bytes per command, synchronicity of the

communication link, and so on. AROS’ command processor runs on a one millisecond
interrupt cycle, but the server response speed depends on the command. Typically, limit

client commands to a maximum of one every 3-5 milliseconds or be prepared to recover

from lost commands.

T

HE

C

LIENT

-S

ERVER

C

ONNECTION

Before exerting any control, a client application must first establish a connection with the
robot server via a serial link through the robot controller’s HOST port. After establishing

the communication link, the client then sends commands to and receives operating

information from the server.

When first started or reset, AROS is in a special wait state, listening for communication
packets to establish a client-server connection.

17

To establish a connection, the client

application must send a series of three synchronization packets containing the SYNC0,
SYNC1, and SYNC2 commands in succession, and retrieve the server responses.

Specifically, and as examples of the client command protocol, the synchronization
sequence of bytes is (in hexadecimal notation):

SYNC0: 0xFA, 0xFB, 0x03, 0x00, 0x00, 0x00
SYNC1: 0xFA, 0xFB, 0x03, 0x01, 0x00, 0x01
SYNC2: 0xFA, 0xFB, 0x03, 0x02, 0x00, 0x02

When in wait mode, AROS echoes the packets verbatim back to the client. The client

should listen for the returned packets and only issue the next synchronization packet after

it has received the appropriate echo.

17

There also is monitor mode for AROS downloads and parameter updates; see next chapter for details.

36

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3TM