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Pioneer 3TM User Manual

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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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