AmigoBot-SH Operations Software
communication line. Extended packets get sent immediately before (such as
GYROpac
)
or after (such as
IOpac
) the standard SIP that AmigoSH sends to your client every
SIP
milliseconds (typically 100).
12
The standard SIP takes priority, so you may have to adjust the
Host
serial 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 AmigoSH server information packets get encapsulated
with the header (0xFA, 0xFB; 250, 251), 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.
CONFIGpac and CONFIG Command
Send the
CONFIG
command #18 without an argument to have AmigoSH send back a
CONFIGpac
SIP packet type 32 (0x20) containing the robot’s operational parameters. Use
the
CONFIGpac
to examine many of your robot’s default FLASH_based settings and their
working values, where appropriate, as changed by other client commands, such as
SETV
and
ROTKV
.
Table 8. CONFIGpac contents
LABEL
DATA
DESCRIPTION
HEADER
int
Common packet header = 0xFAFB
TYPE
byte
ENCODERpac
=
0x20
BYTE COUNT
byte
Number of following data bytes
ROBOT TYPE
str
Typically
“Pioneer”
SUBTYPE
str Identifies
the
Activ
Media robot model; e.g. “dxsh”,
S
ERIALNUM
str
Serial number for the robot.
4
MOTS
byte Antiquated
(=1
if AT with P2OS)
ROTVELTOP
int
Maximum rotation velocity; deg/sec
TRANSVELTOP
int
Maximum translation speed; mm/sec
ROTACCTOP
int
Maximum rotation (de)acceleration; deg/sec
2
TRANSACCTOP
int
Maximum translation (de)acceleration; mm/sec
2
PWMMAX
int
Maximum motor PWM (500=fully on; typically limited to 400 for DX or AT).
NAME
str
Unique name given to your robot.
SIP
byte
Server information packet cycle time; ms.
HOSTBAUD
byte
Baud rate for client-server HOST serial: 0=9.6k, 1=19.2k, 2=38.4k, 3=56.8k,
4=115.2k.
AUXBAUD
byte
Baud rate for AUX1 serial port; 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.
LOWBATTERY
int
In 1/10 volts; alarm activated when battery charge falls below this value.
REVCOUNT
int
Working number of differential encoder ticks for a 180 degree revolution of the
robot.
WATCHDOG
int
Ms time before robot automatically stops if it has not received a command from the
client. Restarts on restoration of connection.
P
2
MPACS
byte
1 means alternative SIP enable; not used by AmigoSH.
STALLVAL
int
Maximum PWM before stall. If > PWMMAX, never.
STALLCOUNT
int
Ms time after a stall for recovery. Motors lax during this time.
JOYVEL
int
Joystick translation velocity setting, mm/sec
JOYRVEL
int
Joystick rotation velocity setting in deg/sec
12
You may have to adjust the
HOST
serial baud rate to accommodate the additional communications traffic.
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