Справочник Пользователя для Pioneer 3TM
ActivMedia Robotics
DCHEAD
22
sint
Heading setpoint relative to last setpoint;
± degrees (+ = ccw)
± degrees (+ = ccw)
1.0
SETRA
23
sint
Rotational (+)acceleration or
(-)deceleration, in degrees/sec/sec
(-)deceleration, in degrees/sec/sec
1.0 1.0
–
SONAR
28
int
1=enable, 0=disable all the sonar; otherwise, use
bit 0 to enable (1) or disable (0) a particular array
1-4, as specified in argument bits 1-4.
bit 0 to enable (1) or disable (0) a particular array
1-4, as specified in argument bits 1-4.
1.0 1.0 –
STOP
29 none Stops robot; motors remain enabled
1.0
1.0
–
DIGOUT
30
2
bytes
Bits 8-15 is a byte mask that selects the output
port(s); Bits 0-7 set (1) or reset (0) the selected
port(s).
port(s); Bits 0-7 set (1) or reset (0) the selected
port(s).
1.7
16
1.2 4.2
VEL
2 32
2
bytes
Independent wheel velocities; Bits 0-7 for right
wheel, Bits 8-15 for left wheel; PSOS is in
±4mm/sec; AROS/P2OS in 20mm/sec increments
wheel, Bits 8-15 for left wheel; PSOS is in
±4mm/sec; AROS/P2OS in 20mm/sec increments
1.0 1.0 4.1
GRIPPER
33
int
Gripper server commands. See the Pioneer 2
Gripper or PeopleBot manual for details.
Gripper or PeopleBot manual for details.
1.0 1.3 4.0
ADSEL
35
int
Selects the A/D port number for reporting Anport
value in standard SIP.
value in standard SIP.
1.0 1.2 –
GRIPPERVAL
36
int
Gripper server values. See Pioneer 2 Gripper or
PeopleBot manual for details.
PeopleBot manual for details.
1.0 –
GRIPREQUEST
37 none Request one (1), a continuous stream (>1), or stop
(0) Gripper SIPs. See Pioneer 2 Gripper or
PeopleBot manual for details.
PeopleBot manual for details.
1.0 1.E –
IOREQUEST
40 none Request one (1), a continuous stream (>1), or stop
(0) IO SIPs
1.0 1.E –
PTUPOS
41
2
bytes
Msbyte is port number (1-4), lsbyte is pulse
width in 100µsec units PSOS or 10µsec units
P2OS
width in 100µsec units PSOS or 10µsec units
P2OS
– 1.2 4.5
TTY
2
42 string Sends string argument to serial device connected
to AUX (AUX1 on H8S) port
1.0 1.0 4.2
GETAUX
43
int
Request to retrieve 1-200 bytes from the AUX
(AUX1 on H8S) serial port; 0 flushes the buffer.
(AUX1 on H8S) serial port; 0 flushes the buffer.
1.0 1.4 –
BUMP
_
STALL
44
int
Stall robot if front (1), rear (2) or either (3) bumps
contacted. Off is 0. See BumpStall FLASH for
default.
contacted. Off is 0. See BumpStall FLASH for
default.
1.0 1.5 –
TCM
2
45
int
TCM2 Module commands; see TCM2 Manual for
details.
details.
1.0 1.6 –
DOCK
46
int
Default is OFF; 1=enable docking signals;
2=enable docking signals and stop the robot when
docking power sensed.
2=enable docking signals and stop the robot when
docking power sensed.
–
1.C
–
JOYDRIVE
47
int
Default is O=OFF; 1=allow joystick drive from
hardware port while also connected with a client
hardware port while also connected with a client
1.0 1.G –
SONAR
_
CYCLE
48
int
Change the sonar cycle time; arg in milliseconds
1.8
–
–
HOSTBAUD
50
int
Reset the HOST serial port baud rate to 0=9600,
1=19200, 2=38400, 3=57600, or 4=115200
1=19200, 2=38400, 3=57600, or 4=115200
1.8 – –
AUX
1
BAUD
51
int
Resets the AUX1 serial port baud rate
1.8
–
–
AUX
2
BAUD
52
int
Resets the AUX2 serial port baud rate
1.8
–
–
E
_
STOP
55 none Emergency stop, overrides deceleration
1.0
1.8
–
M_
STALL
56
int
1 (default)=Motors stop button causes stall; 0
(P2OS default)=off
(P2OS default)=off
1.0 1.E –
LEDGE
57
int
0 if inactive; 1 if stop when near-IRs triggered; 2
if impose speed control only; 3 if both stop and
speed control
if impose speed control only; 3 if both stop and
speed control
1.5 – –
STEP
64 none Single-step mode (simulator only)
1.0
1.0
3.x
TTY
3
66 string Sends string argument to serial device connected
t AUX2 H8S
i l
t
1.0 – –
16
No, this isn’t a misprint—the DIGOUT command was mistakenly omitted until version 1.7.
35