Pioneer 2 - Manual (Page 60)

Appendix B: Joystick Connector
54
Appendix C
Saphira Parameter Files
Saphira consults a special parameters file to determine various operating parameters for the robot server
to which it connects. All the latest Pioneer parameter files can be found in
$(SAPHIRA)/params .
P2DX.p
;;
;; Saphira parameters describe the Pioneer 2 DX
;;
Class
Pioneer
Subclass p2dx
;;
AngleConvFactor
0.001534 ; radians per encoder count diff (2PI/1024)
DistConvFactor 0.826 ; 5in*PI / 5000 (mm/count)
VelConvFactor 1.0 ; mm/sec per encoder count per 1/50 sec
RobotRadius 250.0 ; radius in mm
RobotDiagonal 120.0 ; half-height to diagonal of octagon
Holonomic 1 ; turns in own radius
;; These are for sixteen sonars: six each front and rear, two each side
;;
;; Sonar parameters
;;
SonarNum N is number of sonar
;; SonarUnit I X Y TH is unit I (0 to N-1) description
;; X, Y are position of sonar in mm, TH is bearing in degrees
;;
RangeConvFactor
0.268 ; sonar range mm per 800 nsec tick
;;
SonarNum 16
;; # x y th
;;-------------------------
SonarUnit 0 115 130 90
SonarUnit 1 155 115 50
SonarUnit 2 190 80 30
SonarUnit 3 210 25 10
SonarUnit 4 210 -25 -10
SonarUnit 5 190 -80 -30
SonarUnit 6 155 -115 -50
SonarUnit 7 115 -130 -90
SonarUnit 8 -115 130 -90
SonarUnit 9 -155 115 -130
SonarUnit 10 -190 80 -150
SonarUnit 11 -210 25 -170
SonarUnit 12 -210 -25 170
SonarUnit 13 -190 -80 150
SonarUnit 14 -155 -115 130
SonarUnit 15 -115 -130 90
;; Number of readings to keep in circular buffers
FrontBuffer 20
SideBuffer 40