Pioneer 2TM - Manual (Page 49)

ActivMedia Robotics
Normally enabled (default was disabled in P2OS), change E_STALL by sending the
AROS command #56. With argument of zero, E_STALL gets disabled. An argument
value of one re-enables E_STALL.
A
CCESSORY
C
OMMANDS AND
P
ACKETS
Several types of alternative server information packets (SIPs) come with AROS to better
support the ActivMedia Robotics community. On request from the client by a related
AROS command, the AROS server packages and sends one or a continuous stream of
information packets to the client over the HOST serial communication line. Extended
packets get sent immediately after the standard SIP that AROS sends to your client every
SIP milliseconds (typically 100).
22
The standard SIP takes priority and gets sent as soon as the communication port is free
and the cycle timer expires. So you may have to adjust the communications baud rate
to accommodate all data packets in the allotted cycle time, or some packets may
never get sent.
Packet Processing
Identical with the standard SIP, all AROS server information packets get encapsulated
with a header (0xFA, 0xFB), byte count, packet type byte, and trailing checksum. It is up
to the client to parse the packets, sorted by type for content. Please consult the
respective client application programming manuals for details.
ARIA, for example, comes with a framework for packet parsing and has an internal
parser for the PSOS/P2OS/AROS packet type 0x3S (S=0-2; aka “standard” SIP), as well as
for some of the extended packets we describe in this section.
Table 8. CONFIGpac contents (AROS v1.5 and later)
LABEL DATA DESCRIPTION
HEADER int Common packet header = 0xfAFB
T YPE byte IDs ENCODERpac = 0x20
B YTE COUNT byte Number of following data bytes
R OBOT T YPE str Typically “Pioneer”
SUBTYPE str Identifies the ActivMedia robot model; e.g. “p3dx”,
S ERIALNUM str Serial number for the robot.
4M OTS byte Antiquated (=1 if AT with P2OS)
R OT V EL T OP int Maximum rotational velocity; deg/sec
T RANS V EL T OP int Maximum translation speed; mm/sec
R OT A CC T OP int Maximum rotation (de)acceleration; deg/sec 2
T RANS A CC T OP int Maximum translational (de)acceleration; mm/sec 2
P WM M AX int Maximum motor PWM (500=fully on).
N AME str Unique name given to your robot.
SIP byte Server information packet cycle time
H OST B AUD byte Baud rate for client-server HOST serial: 0=9.6k, 1=19.2k,
2=38.4k, 3=56.8k, 4=115.2k.
A UX B AUD byte Baud rate for AUX serial port 1; see HostBaud
GRIPPER int 0 if no Gripper; else 1
FRONT SONAR int 1 if robot has front sonar array enabled, else 0
REAR SONAR byte 1 if robot has rear sonar enabled, else 0
L OW B ATTERY int In 1/10 volts; alarm activated when battery charge falls
below this value.
R EV C OUNT int Current number of differential encoder ticks for a 360
degree revolution of the robot.
W ATCH D OG int Ms time before robot automatically stops if it has not
22 You may have to adjust the HOST serial baud rate to accommodate the additional communications traffic.
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