Pioneer 2 / PeopleBot User Manual
Page 39
ActivMedia Robotics
Table 6. P2OS/PSOS command set
Command
# Args Description
PSOS
P2OS
Before Client Connection
SYNC0
0
none
Start connection; P2OS echoes
3.x
1.0
SYNC1
1
none
synchronization commands back to
SYNC2 2
none
client.
After Established Connection
PULSE
0
none
Client pulse resets server watchdog
3.x
1.0
OPEN
1
none
Starts the controller
3.x
1.0
CLOSE
2
none
Close server and client connection
3.x
1.0
POLLING
3
string
Set sonar polling sequence
3.9
1.0
ENABLE
4 int Enable=1;
disable=0
the
motors
– 1.0
SETA
5
signed int
Resets translational acceleration parameter,
if positive, or deceleration, if negative; in
millimeters per second
2
–
1.0
SETV
6 int Reset
maximum
translational
velocity,
in
millimeters per second
4.8 1.0
SETO
7
none
Resets server to 0,0,0 origin
3.x
1.0
MOVE
8
signed int
Translation distance to move in mm
SETRV
10
int
Resets maximum rotational velocity in
degrees per second
4.8 1.0
VEL
11
signed int
Move forward (+) or reverse (-) at
millimeters per second
3.x 1.0
HEAD
12
signed int
Turn to absolute heading (+) =
counterclockwise; ± degrees
4.2 1.0
DHEAD
13
signed int
Turn relative to current heading (+) =
counterclockwise; ± degrees
3.x 1.0
SAY
15
string
As many as 20 pairs of duration (20 ms
increments) /tone (half-cycle) pairs; int is
string length
4.2 1.0
CONFIG
18 int 1=Request
configuration
SIP
– 1.4
ENCODER
19
int
Request 1 or continuous stream (>1), or tell
to stop sending (0) Encoder SIPs
– 1.4
RVEL
21
signed int
Rotate at ± degrees per second
4.2
1.0
DCHEAD
22
signed int
Heading setpoint relative to last setpoint;
± degrees; (+) = counterclockwise
SETRA
23
signed int
Sets rotational (+)acceleration or
(-)deceleration, in mm/sec/sec
–
1.0
SONAR
28
int
1=Enable; 0=disable all the sonar
–
1.0
STOP
29
none
Stops robot (motors remain enabled)
–
1.0
DIGOUT
30
int
Msbits is a byte mask that selects output
port(s) for changes; lsbits set (1) or reset (0)
the selected port.
4.2 1.2
VEL2
32
signed int
Independent wheel velocities; lsb=right
wheel; msb=left wheel; PSOS is in
±4mm/sec; P2OS in ±2cm/sec increments
4.1 1.0
GRIPPER
33
int
Pioneer 1 and Pioneer 2 Gripper server
command. See the Pioneer Gripper manuals
for details.
4.0 1.3
ADSEL
35
int
Select the A/D port number for analog value
in SIP. Selected port reported in SIP Timer
value.
–
1.2
GRIPPERVAL
36
int
Pioneer 2 gripper server value. See P2
Gripper Manual for details.
–
GRIPREQUEST
37
none
Request 1 or continuous stream (>1), or tell
to stop sending (0) Gripper SIPs
– 1.E
33