Adept MobileRobots Pioneer 3, Operation Manual

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Demo Client 18
Starting Up ARIA Demo 19
Demo Startup Options 19
A Successful Connection 20
Operating the ARIA Demonstration Client 20
Disconnecting 21
Networking with MobileEyes 21
Start serverDemo 21
Start MobileEyes and Connect with serverDemo 21
Operating MobileEyes 21
Quickstart Troubleshooting 21
Parameter Files 22
Proper Connections 22
Chapter 6 ARCOS 23
Client-Server Communication Packet Protocols 23
Packet Checksum 24
Packet Errors 24
The Client-Server Connection 25
Autoconfiguration (SYNC2) 25
Opening the Servers—OPEN 25
Server Information Packets 26
Keeping the Beat—PULSE 27
Closing the Connection—CLOSE 27
Client Commands 27
Robots in Motion 30
Client Motion Commands 31
PID Controls 32
Position Integration 32
DriftFactor, RevCount, and TicksMM 33
SONAR 33
Enable/Disabling SONAR 33
Polling Sequence 33
Polling Rate 34
SONAR Range Readings 34
Stalls and emergencies 34
Accessory Commands and Packets 35
Packet Processing 35
CONFIGpac and CONFIG Command 35
Serial 37
HOST-to-AUX Serial Transfers 37
Encoders 38
Buzzer Sounds 38
TCM2 Compass 39
Calibration 40
Reset Mode 40
Onboard PC 40
Input Output (I/O) 41
User I/O 41
IO Packets 41
Bumper and IR I/O 42
Joystick 42
Gripper 42
Heading Correction Gyro 43
Client-Side Gyro 44
Server-Side Gyro 44
Automated Recharging System 44
Digital Port Controls 45
Automated Recharging Servers 45
Monitoring the Recharge Cycle 45