ARCOS
40
Temperature
integer
Temperature degrees C times 10
Error
integer
Bit-mapped error code (see TCM2 User’s Manual for
meanings)
Calibration
byte
H score (0-9)
Scores
byte
V score (0-9)
integer
M score times 100
Checksum
integer
SIP checksum
Use the
TCM2 client
command #45 to calibrate the device and to request additional information in the form of the
TCM2pac
. ARIA supports the TCM2, as well. Please consult the ARIA documentation for additional information.
Calibration
You should calibrate your TCM2 Module at least once after installing it on your robot. We also recommend that you
calibrate it whenever you change operating environments.
To calibrate just the heading, run Aria demo, enter compass mode, engage calibration (user) mode, go into
teleoperation mode, and use the left or right arrow key to turn the robot two full revolutions (720 degrees). Then go
back to compass mode and stop calibrating. Alternatively, use demo’s ‘d’irect command mode to send the TCM2 client
command and argument ’45 4’ to start and ’45 6’ to end user calibrations.
Also, to calibrate for pitch and roll, as well as heading, you need to hold the compass in your hand and turn it side to
side while rotating.
The ARCOS TCM2 command #45 mode 4 followed by mode 6 cause the TCM2 module to calibrate and save its
settings, then revert back to mode 1 after returning a single TCM2 SIP containing the updated calibration score to the
connected client. It and subsequent SIPs contain that latest calibration score on which you may evaluate the calibration
settings.
Reset Mode
The reset TCM2 command argument forces a soft Module reset. Cycle AUX power to force a hard reset. When started
or upon reset, the TCM2 module reverts to its default state. From the factory, the module is set up to communicate at
9600 baud, include compass, inclinometer, temperature (in degrees Farenheit) and magnetmometer data in its
standard output word, be in standby mode, and respond to the single "h" character to halt. Change the module
parameters manually with ARCOS-mediated TTY2 commands or through the Windows TCM2 software provided by the
manufacturer and included on the TCM2 Compass diskette.
O
NBOARD
PC
Communication between the onboard PC and the robot ontroller is RS-232 serial through the computer’s
COM1
(Windows) or
/dev/ttyS0
(Linux) serial port and the robot controller’s HOST port. Set the
HostBaud
FLASH
communication rate to match the PC client-software’s serial port rate.
The
RI
pin 9 on the HOST port initializes to low and goes high when the batteries discharge to below the FLASH-set
ShutdownVolts
value. Some UPS monitoring software (e.g. Linux genpowerd) can be configured to monitor RI and
shut down the computer if triggered.
Any battery voltage can be artificially set using command #250 to test software response to low battery voltage and the
RI serial signal. Restore to the real battery voltage by sending command #250 with 0 as its argument or resetting the
controller.
