Pioneer 2TM - Manual (Page 51)

ActivMedia Robotics
For auto-baud, the HOST serial port automatically reverts to its FLASH default baud rate if,
after being reset by the HOSTBAUD client command, it does not receive a subsequent
and valid client-command packet within 500 milliseconds.
HOST-to-AUX Serial Transfers
Use the client-side TTY2 command #42 with a string argument to have that string sent
out the AUX1 port to the attached serial device, such as a robotic camera. Similarly, use
the TTY3 command #66 to send a string argument to the AUX2 port.
AROS also maintains two circular buffers for incoming serial data from the AUX1 and
AUX2 ports. On request, AROS sends successive portions of the buffers to your client via
the HOST port in the respective SERAUXpac (type = 176; 0xB0) and SERAUX2pac (type =
184; 0xB8) SIPs. Use the GETAUX command 43 for AUX1 or GETAUX2 command number 67
for AUX2. Use the integer argument value of zero to flush the contents of the respective
buffer. Use an argument value of up to 253 bytes to have AROS wait to collect the
requested number of incoming AUX-port serial bytes and them send them in the
respective SERAUXpac or SERAUX2pac SIP.
E
NCODER PACKETS
Issue the ENCODER command #19 with an argument of one for a single, or with an
argument value of two or more for a continuous stream of ENCODERpac (type 144; 0x90)
SIPs. Discontinue the packets with the ENCODER command #19 with an argument of
zero.
Table 9. ENCODERpac SIP contents
Header integer Exactly 0xFA, 0xFB
Byte Count byte Number of data bytes + 2 (checksum)
Left Encoder integer Least significant, most significant portion of the
integer current accumulated encoder counts from the left wheel
Right Encoder integer Least significant, most significant portion of the
integer current accumulated encoder counts from the left wheel
Checksum integer Checksum for packet integrity
Gripper packets
AROS controls the Gripper accessory for the Pioneer and Performance PeopleBot robots.
The client sends commands to the Gripper servers and gets Gripper status information
from the standard SIP. Please consult the respective manuals for details.
Table 10. GRIPPERpac packet contents
HEADER int Exactly 0xFA, 0xFB
BYTE COUNT byte Number of data bytes + 2 (checksum)
TYPE byte Packet type = 0xE0
H AS G RIPPER byte Gripper type: 0=none; 1=User; 2=PeopleBot
GRIP _ STATE byte See nearby Table
GRASP _T IME byte MS time controls grasping pressure
CHECKSUM integer Computed checksum
AROS supports a GRIPPERpac (type=224; 0xE0) packet type and related GRIPREQUEST
P2OS command #37 to retrieve setup and status information from the servers.
Normally disabled, your client program may request one or a continuous stream
(command argument > one) of Gripper packets. Send GRIPREQUEST with the
argument value zero to stop continuous packets.
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