Pioneer Module Mobile - Manual (Page 28)

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8. Appendix B
Pioneer Server Information Packet
Name Data Type Description
Header int Exactly 0xFA, 0xFB
Byte Count byte Number of data bytes + 2; must be less than 201
(0xC9)
Status byte = 0x3S; where S = Motors status
sfSTATUSNOPOWER Motors power off
sfSTATUSSTOPPED Motors stopped
sfSTATUSMOVING Robot moving
Xpos unsigned int (15 ls-bits) Wheel-encoder integrated coordinates; platform-
dependent units—multiply by
Ypos unsigned int (15 ls-bits) DistConvFactor in the parameter file to convert to
mm; roll-over ~ 3 m
Th pos signed int Orientation in platform-dependent units—multiply
by AngleConvFactor for radians
L vel signed int Wheel velocities (respective Left and Right) in
platform-dependent units—
R vel signed int multiply by VelConvFactor to convert to mm/sec.
Battery byte Battery charge in tenths of volts
Bumpers 2 bytes - L and R Motor stall indicators
Bumpers unsigned int
Control signed int Setpoint of the server’s angular position servo—
multiply by AngleConvFactor for radians
PTU unsigned int Pulse width of position servo
Say byte verbal/sound clues
Sonar
readings
byte Number of new sonar readings included in
information packet; readings follow:
Sonar num byte Sonar number
Sonar range unsigned int Sonar reading—multiply by RangeConvFactor for
mm
Input timer unsigned int User input timer reading
User Analog byte User analog input reading
User Input byte User digital input pins
User Output byte User digital output pins
Checksum int Checksum (see previous section)