ARCOS
30
bytes 3- = up to 20 chars, NULL-terminated.
TTY
4
60
str
Send string argument out to device connected at AUX3
serial port.
1.0
GETAUX
3
61
int
Request to retrieve 1-200 bytes from the device
connected at the AUX3 serial port; 0 flushes the
buffer.
1.0
TTY
3
66
str
Send string argument out to device connected at AUX2
serial port.
1.0
GETAUX
2
67
int
Request to retrieve 1-200 bytes from the device
connected at the AUX2 serial port; 0 flushes the
buffer.
1.0
CHARGE
68
int
0=release; 1=deploy autocharge-docking mechanism.
1.0
ARM
70-
80
int
Pioneer Arm-related commands. See Arm manual for
details.
1.1
ROTKP
82
int
Change working rotation Proportional PID value.
1.0
ROTKV
83
int
Change working rotation Derivative PID value.
1.0
ROTKI
84
int
Change working rotation Integral PID value.
1.0
TRANSKP
85
int
Change working translation Proportional PID value.
1.0
TRANSKV
86
int
Change working translation Derivative PID value.
1.0
TRANSKI
87
int
Change working translation Integral PID value.
1.0
REVCOUNT
88
int
Change working differential encoder count.
1.1
DRIFTFACTOR
89
int
Change working drift factor.
1.0
SOUNDTOG
92
int
0=mute User Control piezo; 1 = enable.
1.0
TICKSMM
93
int
Change working encoder ticks per millimeter tire
travel.
1.1
BATTEST
250
int
Artificially set the battery voltage; argument in
tens volts (100=10V); 0 to revert to real voltage
1.0
RESET
253
none
Force a power on-like reset of the microcontroller.
1.0
MAINTENANCE
255
none
Engage microcontroller maintenance (ARSHstub) mode.
1.0
R
OBOTS IN
M
OTION
The ARCOS motor-control servers accept several different motion commands of two types: either independent-wheel
(
VEL2
) or translation/rotation movements (
VEL
,
ROT
, etc). Actually,
VEL2
commands are recomposed at the server into
their translation and rotation components and the corresponding limits and (de)accelerations get applied. The ARCOS
servers automatically abandon any translation or rotation setpoints and switch to independent wheel velocity- or
translation/rotation-type controls when your client issues a command of the opposite type.
Table 7. Client motion-related commands
R
OTATION
HEAD (#12)
Turn to absolute heading at SETRV max rotational velocity
