Pioneer 3TM ユーザーズマニュアル
ActivMedia Robotics Operating System
C
LIENT
C
OMMANDS
AROS has a structured command format for receiving and responding to directions from
a client for control and operation of your ActivMedia robot or the simulator. Client
commands are comprised of a one-byte command number optionally
commands are comprised of a one-byte command number optionally
followed, if
required by the command, by a one-byte description of the argument type and then
the argument value.
Table 4. AROS/P2OS/PSOS client command packet protocol
COMPONENT
BYTES
VALUE
DESCRIPTION
HEADER
2
0xFA, 0xFB
Packet header; same for client and server
BYTE COUNT
1
N
Number of command/argument bytes plus
Checksum’s two bytes, but not including Byte Count
itself or the header bytes. Maximum of 249.
Checksum’s two bytes, but not including Byte Count
itself or the header bytes. Maximum of 249.
COMMAND
NUMBER
1
0 - 255
Client command number;
see Table 7.
see Table 7.
ARGUMENT
TYPE
1 0x3B
or
0x1B or
0x2B
Required data type of command argument:
positive integer,
negative or absolute integer,
or string (ARGSTR)
positive integer,
negative or absolute integer,
or string (ARGSTR)
ARGUMENT
n
data
Command argument; always 2-byte integer or string
containing length prefix
containing length prefix
CHECKSUM
2
computed
Packet integrity checksum
Table 5. AROS/P2OS/PSOS command set
COMMAND
#
ARGS
DESCRIPTION
AROS
P
2
OS
PSOS
Before Client Connection
SYNC
0
0 none Start connection. Send in sequence. AROS echoes
1.0
1.0
3.x
SYNC
1
1 none synchronization commands back to client, and
SYNC
2
2 none robot-specific autosynchronization after SYNC2.
After Established Connection
PULSE
0 none Resets server watchdog
1.0
1.0
3.x
OPEN
1 none Starts the AROS servers
1.0
1.0
3.x
CLOSE
2 none Close servers and client connection
1.0
1.0
3.x
POLLING
3 string Change sonar polling sequence (see text)
1.0
1.0
3.9
ENABLE
4 int 1=enable;
0=disable
the
motors
1.0 1.0 –
SETA
5
sint
Translational
acceleration, if positive, or
deceleration, if negative; mm/sec/sec
1.0 1.0
–
SETV
6 int Sets
maximum
translational
velocity;
mm/sec
1.0 1.0 4.8
SETO
7 none Resets local position to 0,0,0 origin
1.0
1.0
3.x
MOVE
8
sint
Translate (+) forward or (-) back mm distance
1.0
1.0
–
ROTATE
9
sint
Rotate (+) counter- or (-) clockwise degrees/sec
1.0
1.0
–
SETRV
10
int
Sets maximum rotational velocity; degrees/sec
1.0
1.0
4.8
VEL
11
sint
Translate at mm/sec forward (+) or backward (-)
1.0
1.0
3.x
HEAD
12
sint
Turn to absolute heading; ±degrees (+ = ccw )
1.0
1.0
4.2
DHEAD
13
sint
Turn relative to current heading; (+) counter- or
(–) clockwise degrees
(–) clockwise degrees
1.0 1.0 3.x
SAY
15 string As many as 20 pairs of duration (20 ms
increments) /tone (half-cycle) pairs
1.0 1.0 4.2
CONFIG
18
none
Request
configuration
SIP
1.0
1.4
–
ENCODER
19
int
Request one (1), a continuous stream (>1), or stop
(0) encoder SIPs
(0) encoder SIPs
1.0 1.4 –
RVEL
21
sint
Rotate at (+) counter- or (–) clockwise;
degrees/sec
degrees/sec
1.0 1.0 4.2
DCHEAD
22
sint
Heading setpoint relative to last setpoint;
1.0
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