Pioneer Gripper
Chapter 6
Appendix A
S
TANDARD
S
ERVER
I
NFORMATION
P
ACKET
NAME
VALUE
DESCRIPTION
HEADER
int
Exactly 0xFA, 0xFB
BYTE COUNT
byte
Number of data bytes + 2 (checksum), not including header or
byte-count bytes
STATUS
/
PACKET
0x3S =
Motors status
TYPE
2
Motors
stopped
3
Robot
moving
XPOS
int
Translation
travel
YPOS
int
THPOS
Sint
╪
Orientation
L VEL
Sint
Wheel
velocities
R VEL
Sint
BATTERY
byte
Battery charge in tenths of volts (101 = 10.1 volts, for example)
STALL AND
BUMPERS
int
Motor stall and bumper indicators.
CONTROL
Sint
Setpoint of the server’s angular position servo
FLAGS
Sint
Various status and states.
COMPASS
byte
Electronic compass accessory heading in 2-degree units
SONAR COUNT
byte
Number of new sonar readings included in SIP
NUMBER
byte
If Sonar Count>0, is sonar disc number 0-31; reading follows
RANGE
int
Sonar range value; multiply by RangeConvFactor
‡
…
REST OF THE SONAR READINGS
…
GRIP
_
STATE
BYTE
Pioneer Gripper state byte
ANPORT
BYTE
Selected analog port number 1-5
ANALOG
BYTE
User Analog input (0-255=0-5 VDC) reading on selected port
DIGIN
BYTE
Byte-encoded User I/O digital input
DIGOUT
BYTE
Byte-encoded User I/O digital output
CHECKSUM
INTEGER
Packet-integrity
checksum
15
