Updating and Reconfiguring ARCOS
50
Table 18. ARCOScf interactive commands
Table 19. Sample ARCOS FLASH configuration parameters with values for Pioneer 3–DX
K
EYWORD
D
ATA
D
EFAULT
D
ESCRIPTION
type
str
Pioneer
Identifies the robot type.
subtype
str
P3DX-SH
Identifies the robot model.
name
str
P3-DX
Unique name for your robot.
Maximum of 20 characters, no spaces.
sernum
str
Serial
Serial number for the robot.
ticksmm
int
128
Encoder ticks/mm: (4 x ticks per rev x gear-ratio)/
(wheel_diameter x
Π
)
revcount
int
16570
The number of differential encoder ticks for a 180-
degree revolution of the robot.
driftfactor
int
0
Value in 1/8192 increments to be added or subtracted
from the left encoder ticks in order to compensate
for tire differences.
battconv
byte
0
0 if a 12V system; 1 if 24V
lowbattery
int
115
In 1/10 volts; microcontroller alarm activated when
battery charge falls below this value.
shutdownvolts
int
108
In 1/10 volts; microcontroller disconnects client and
signals onboard PC to shutdown when battery charge
falls below this value.
hostbaud
byte
0
Baud rate for client-server HOST serial: 0=9.6k,
1=19.2k, 2=38.4k, 3=56.8k, 4=115.2k.
auxbaud1
byte
0
Baud rate for AUX serial port 1; see HostBaud
auxbaud2
byte
0
Baud rate for AUX serial port 2; see HostBaud
auxbaud3
byte
0
Baud rate for AUX serial port 3; see HostBaud
C
OMMAND
D
ESCRIPTION
keyword <value>
Alone, a keyword displays current, edited value. Include a
value to change it.
v or view
Display FLASH parameters.
u or upload <motfile>
Upload
specified
ARCOS
image
(.mot)
file
to
the
microcontroller.
r
or
restore
<paramsfile>
Restore parameters to values currently stored in FLASH or,
if given, from a paramsfile (.rop) on disk
save <paramsfile>
Saves current edited values to FLASH or saves current
edited values to paramsfile (.rop) on disk for later
reference.
q or quit
Exits ARCOScf.
? or help
Displays these commands and descriptions.
