Pioneer 2 - Manual (Page 48)

Updating and Reconfiguring P2OS
42
Table 7-2. Pioneer 2 DX configuration parameters (P2OS 1.9)
KEYWORD Type Default Description
CONSTANTS Cannot be changed using p2oscf
Type string Pioneer String identifies the robot as a Pioneer type and is included in the SYNC2
connection return packet along with Subtype and Name.
Subtype string P2DX Identifies the Pioneer model; P2AT or P2CE for other models.
Serial string factory set Serial number for the Pioneer 2.
FourMotors byte 0 Is '1' for the four-motor Pioneer 2-AT
RotVelTop integer 360 Maximum allowable rotational velocity in degrees per second
TransVelTop integer 2200 Maximum allowable speed in millimeters per second
RotAccTop integer 600 Maximum allowable rotational (de)acceleration in degrees per second
TransAccTop integer 4000 Maximum allowable translational (de)acceleration; millimeters per second
PwmMax integer 500 Maximum motor pulse period (500=fully on).
Compass Integer 0 Compass type: 0=none; 1=V2XG; 2=TCM2
VARIABLES Parameters that you may change with p2oscf
Name string not_set Unique name you may give your Pioneer 2. Besides its ownership value, this
parameter gets passed to a connecting client as the first argument in the
SYNC2
packet, therefore useful for differentiating among multiple Pioneers.
Maximum of 20 characters; no intervening spaces.
SInfoCycle byte 0 Server information packet communication cycle time: 0=classic 100
milliseconds, as for PSOS; 1=new 50ms cycle time
HostBaud byte 0 Baud rate for host (client) serial port connection. 0=9600, 1=19200,
2=38400 bps.
AuxBaud byte 2 Baud rate for second (AUX) serial port; values as for HostBaud
HasGripper integer 0 '1' if P2 Gripper installed into User I./O; ‘2’ if installed in General I/O;
otherwise 0
FrontSonar integer 1 '1' if front sonar array installed; otherwise 0
RearSonar byte 0 '1' if rear sonar array installed; otherwise 0
LowBattery integer 110 In 1/10 volts; microcontroller alarm activated when battery charge falls
below this value.
RevCount integer 20000 The number of encoder ticks for a 360 degree revolution of the robot. Reset
this parameter to a number that best reflects the characteristics of your robot
in a particular environment. See revcountcal utility.
WatchDog integer 2000 Milliseconds time before robot automatically stops if it has not received a
command from a client. Restarts on restoration of connection with client.
P2Mpacs byte 0 '1' enables new, extended P2OS server information packet.
StallVal integer 200 Maximum PWM before stall; either or both motors. If > PwmMax, never
stalls.
StallCount integer 100 Milliseconds after a stall for recovery. Motors not engaged during this time.
CompX integer 0 Compass calibration X-offset (See compasscal utility)
CompY integer 0 Compass calibration Y-offset (See compasscal utility)
RotVelMax integer 200 Maximum velocity for completion of a Colbert or similar rotation.
TransVelMax integer 300 Maximum velocity for completion of a Colbert or similar translation.
RotAcc integer 50 Rotational acceleration in degrees per second
RotDecel integer 50 Rotational deceleration in degrees per second
RotKp integer 30 Proportional PID parameter for responsiveness of the drive system. Lower
values make a slower, less-responsive system; higher values make the robot
"zippier", but can lead to overshoot and oscillation.
RotKv integer 60 Differential PID dampens oscillation and overshoot. Increasing values gives
better control oscillation and overshoot, but they also make the robot’s
movements more sluggish.
RotKi integer 0 Integral PID adjusts residual error in turning and velocity. Higher values
make the robot correct increasingly smaller errors between its desired and
actual angular position and speed.
TransAcc integer 300 Translational acceleration in degrees per second
TransDecel integer 300 Translational deceleration in degrees per second
TransKp integer 30 see RotKp