Pioneer 2TM - Manual (Page 50)

ActivMedia Robotics Operating System
received a command from a client. Restarts on restoration
of connection.
P2M PACS byte 1 enables alternative SIP.
S TALL V AL int Maximum PWM before stall. If > PwmMax, never.
S TALL C OUNT int Ms time after a stall for recovery. Motors not engaged
during this time.
J OY V EL int Joystick translation velocity setting, mm/sec
J OY RV EL int Joystick rotation velocity setting in deg/sec
R OT V EL M AX int Current max rotational speed; deg/sec.
T RANS V EL M AX int Current max translational speed; mm/sec.
R OT A CC int Current rotational acceleration; deg/sec 2
R OT D ECEL int Current rotational deceleration; deg/sec 2
R OT K P int Current Proportional PID for rotation
R OT K V int Current Derivative PID for rotation
R OT K I int Current Integral PID for rotation
T RANS A CC int Current translational acceleration; mm/sec 2
T RANS D ECEL int Current translational deceleration; mm/sec 2
T RANS K P int Current Proportional PID for translation
T RANS K V int Current Derivative PID for translation
T RANS K I int Current Integral PID for translation
ADDED IN AROS 1.6
F RONT B UMPS byte Number of front bumper segments
R EAR B UMPS byte Number of rear bumper segments
ADDED IN AROS 1.7
CHARGER byte 1 if P3 or 2 if PowerBot automated charger mechanism and
circuitry installed in robot; otherwise 0
ADDED IN AROS 1.8
S ONAR C YCLE byte Sonar duty cycle time in milliseconds
A UTO B AUD byte 1 if can change baud rates; 2 if auto-baud implemented
H AS G YRO byte 1 if has the gyro device; otherwise 0
CONFIGpac and CONFIG Command
Send the CONFIG command #18 without an argument to have AROS send back a
CONFIGpac SIP packet type 32 (0x20) server information packet containing the robot's
operational parameters. Use the CONFIGpac to examine many of your robot’s default
FLASH_based settings or their working values, when appropriate, as changed by other
client commands, such as SETV and ROTKV. A table nearby gives details about the
configuration packet data.
S
ERIAL PORT COMMUNICATIONS
AROS provides two-way communications through the HOST client-server communication
port and to and through two auxillary serial ports on the microcontroller, AUX1 and AUX2.
Changing Baud Rates and Autobauding
The baud rates for the HOST, AUX1, and AUX2 ports initially are set from their respective
FLASH-based defaults and get reset to those values whenever the controller is reset or
upon client disconnection. For advanced serial port management from the client side, in
AROS 1.8 and later we provide three client commands which let your software reset the
HOST (HOSTBAUD #50), AUX1 (AUX1BAUD #51), and AUX2 (AUX2BAUD #52) serial port baud
rates, respectively. Use the integer command argument values: 0=9600, 1=19.2K, 2=38.8K,
3=57.6K or 4=115.2K baud.
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