ActivMedia Robotics MOBILEROBOTS Team AmigoBot-SH, Руководство по эксплуатации

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M
OBILE
R
OBOTS
SONAR
_
CYCLE
48 uint Change the sonar cycle time; in milliseconds. 1.0
HOSTBAUD
50 int Change the HOST serial port baud rate to 0=9600, 1=19200,
2=38400, 3=57600, or 4=115200. 1.0
AUX
1
BAUD
51 int
Change the AUX1 serial port baud rate (see HOSTBAUD ).
1.0
AUX
2
BAUD
52 int Change the AUX2 serial port baud rate (see
HOSTBAUD
). 1.0
AUX
3
BAUD
53 int
Change the AUX3 serial port baud rate (see
HOSTBAUD
).
1.0
Q_
STOP
55 none Quick stop; very abrupt by overriding deceleration. 1.0
E_STOP 57 none Not AmigoBot; triggers estop circuitry 1.0
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 autocharging-docking mechanism. 1.0
ARM
70-
80
int Pioneer Arm-related commands; not AmigoBot. 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 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 controller. 1.0
MAINTENANCE
255 none Engage controller maintenance (AMIGOstub) mode. 1.0
M
OTION
C
OMMANDS
Note that once connected, AmigoBot’s motors are disabled, regardless of their state
when last connected. Accordingly, you must either enable the motors manually (black
Motors/test
button) or send the motors
ENABLE
client command #4 with the argument
value of one.
10
Monitor the status of the motors with bit 0 of the
Flags
integer in the
standard SIP.
The AmigoSH 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 composed at the server into their translation and
rotation components and the corresponding limits and (de)accelerations get applied.
However, the AmigoSH 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.
10
Alternatively, disable the motors with the
ENABLE
command argument of zero.
27