Updating and Reconfiguring AmigoSH
For instance, operate AmigoSHcf’s interactive features without a connection to maintain
disk-based copies of your robot’s operating parameters.
Include each of the selected AmigoSHcf’s startup-mode options as a key letter with a
dash (“-“) prefix, followed by any required arguments, separated by spaces. For
example, to start up AmigoSHcf and make a connection with a serial port other than the
default
COM1
or
ttyS0
:
C:\Program Files\ActivMedia Robotics\AmigoSH> AmigoSHcf –p COM3
Similarly, in Linux
,
the command uploads a fresh copy of AmigoSH to your robot’s
controller and then exits automatically:
% ./AmigoSHcf –u AmigoSH1_0.mot –n -b
C
ONFIGURING
A
MIGO
SH P
ARAMETERS
Your
AmigoBot
has several parameters stored in FLASH that AmigoSH uses to configure its
servers and auxiliary attachments and to uniquely identify your robot. For instance, the
default maximum translation velocity is stored in the
TransVelMax
parameter. Its value
takes effect when starting your robot or after resetting the controller, and may be
changed temporarily by a client command. Use
AmigoSHcf
’s batch or interactive
modes to modify these operating parameters, and hence your robot’s default operating
characteristics.
Start up
AmigoSHcf
as described in the previous section. As discussed earlier,
AmigoSHcf
normally downloads the set of operating parameters from your robot’s FLASH for your
review and modification. Or you may load a disk-stored version of those parameters.
Interactive Commands
To operate
AmigoSHcf
in interactive mode, simply type a keyword at the command line.
Some keywords affect the operation of AmigoSHcf, the status of the parameters file as a
whole, or the connection between AmigoSHcf and your robot’s controller. For instance,
to review the list of current AmigoSH FLASH variables, type
'v'
or ‘
view
’ followed by a
return (
Enter
). Each successive return will display additional variable keywords and
current values. Similarly, type '
?
' or
'help'
to see a list of
AmigoSHcf
interactive
commands.
Changing Parameters
Most keywords refer to the operating parameters themselves. Alone, a parameter’s
keyword simply asks
AmigoSHcf
to display the parameter’s value. Provide an argument
with the parameter keyword separated by a space to change its value. That value may
be a string (no quotes or spaces) or a decimal or hexadecimal ("
0xN
") number. For
example, to change the
watchdog
timeout to four seconds, type:
> watchdog 4000
or
> watchdog 0xfa0
See the respective control command and parameter Tables nearby for a full description
of
AmigoSHcf
operation.
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