Pioneer 2 / PeopleBot User Manual
Page 57
ActivMedia Robotics
Table 15. Configuration parameters (currently P2OS 1_J) with values for Pioneer 2-DX
KEYWORD
Type Default
Description
CONSTANTS
Should not be changed using p2oscf
Type
str
Pioneer
Identifies the robot type.
Subtype
str P2DX
Identifies
the ActivMedia robot model.
Serial
str
factory
Serial number for the robot.
FourMotors
byte
0
Is '1' for the four-motor Pioneer 2-AT
RotVelTop
int
360
Maximum rotational velocity; deg/sec
TransVelTop
int
2200
Maximum translation speed; mm/sec
RotAccTop
int
600
Maximum rotation (de)acceleration; deg/sec
2
TransAccTop
int
4000
Maximum translational (de)acceleration; mm/sec
2
PwmMax
int
500
Maximum motor PWM period (500=fully on).
Encoder
int
76
Encoder ticks/mm: (ticks/rev x gear-ratio)
(wheel_diameter x PI)
VARIABLES
Parameters that you may change with p2oscf
Name
str
not_set
Unique name for your robot.
Maximum of 20 characters, no spaces.
SInfoCycle
byte
0
Server information packet communication cycle
time: 0=classic 100 ms; 1=new 50 ms 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 AUX serial port; see HostBaud
HasGripper
int
0
1 if P2 Gripper installed into User I/O; 2 if
installed in General I/O; otherwise 0
FrontSonar
int
1
1 if front sonar array installed; otherwise 0
RearSonar
byte
0
1 if rear sonar array installed; otherwise 0
LowBattery
int
110
In 1/10 volts; microcontroller alarm activated
when battery charge falls below this value.
RevCount
int
20000
The number of differential encoder ticks for a
360 degree revolution of the robot.
WatchDog
int
2000
Ms time before robot automatically stops if it
has not received a command from a client.
Restarts on restoration of connection.
P2Mpacs
byte
0
1 enables alternative SIP. Otherwise 0.
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.
Compass
Int
0
Compass type: 0=none; 1=V2XG; 2=TCM2
CompX
int
0
V2XG Compass calibration X-offset
CompY
int
0
V2XG Compass calibration Y-offset
RotVelMax
int
200
Max rotational speed; deg/sec.
TransVelMax
int
300
Max translational speed; mm/sec.
RotAcc
int
50
Rotational acceleration; deg/sec
2
RotDecel
int
50
Rotational deceleration; deg/sec
2
RotKp
int
30
Proportional PID for rotation
RotKv
int
200
Differential PID for rotation
RotKi
int
0
Integral PID for rotation
TransAcc
int
300
Translational acceleration; mm/sec
2
TransDecel
int
300
Translational deceleration; mm/sec
2
TransKp
int
15
Proportional PID for translation
TransKv
int
800
Differential PID for translation
TransKi
int
4
Integral PID for translation
JoyVelMax
int
600
Joydrive maximum translation velocity
JoyRVelMax
int
125
Joydrive maximum rotational velocity
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