ActivMedia Robotics PeopleBot, Руководство по эксплуатации, Страница: 54 / 78

Pioneer 2 Operating System
IR
1 varies 0-255 Breakbeam/fixed-range IR inputs
N DIGOUT
1 1 Number of digital output bytes
DIGOUT
1 varies 0-255 Digital output byte(s)
AN
1 5 Number of A/D values
A/D 10 5 integers
varying 0-2047
A/D ports 1-5 input values at 12-
bit resolution = 0-5 VDC
CHECKSUM
2 varies Computed checksum
* Actual bits, not affected by
InvertBumps
since bumper bits may be used for other
digital input besides bumpers.
Not all analog and digital I/O appears in the standard SIP. Accordingly, your client
software may request the
IOpac
SIP (type = 240; 0xF0), which contains all common I/O
associated with the H8S microcontroller and which appear on the various connectors,
including User IO, General IO, Bumpers, and IRs.
Use the AROS client
IOREQUEST
command number 40 with an argument value of zero,
one, or two. The argument value one requests a single packet to be sent by the next
client-server communications cycle. The request argument value of two tells AROS to
send
IOpac
packets continuously, at approximately one per cycle depending on serial
port speed and other pending SIPs. Use the
IOREQUEST
argument value zero to stop
continuous
IOpac
packets.
G
RIPPER
The Performance PeopleBot’s Gripper is connected to the User I/O port from which your
client may directly control the various Gripper functions and read its sensors using the
native AROS commands that manage the User I/O digital input and output ports. For
example, to lift the Gripper you may set the appropriate output control output bits on the
User I/O port with the AROS
DIGOUT
command number 30. This can be dangerous: Left
unattended and running, you could damage the Gripper's drive electronics.
Table 10. Gripper signals at the User I/O connector
PIN PORT DESCRIPTION WHEN HIGH WHEN LOW
DIGITAL OUTPUTS
1 OD0 Gripper enable Off On
3 OD1 Gripper direction Open Close
5 OD2 Lift enable Off On
7 OD3 Lift direction Up Down
DIGITAL INPUTS
2 ID0 Paddles open limit Between Tully open
4 ID1 Lift limit Between Top or bottom
6 ID2 Outer breakbeam Obstructed Clear
8 ID3 Inner breakbeam Obstructed Clear
9 ID4 Left paddle contact Clear Grasping
11 ID5 Right paddle contact Clear Grasping
Gripper Servers
For safety and convenience, use the set of Gripper servers that come with AROS. These
servers automatically drive the Gripper so to achieve some fundamental state, such as
up or down, open or closed. From the client, issue the AROS
GRIPPER
command number
33, followed by its required unsigned integer argument which is the Gripper-server
command number.
48