29
port(s) for change; Bits 0-7 set (1) or reset (0) the
selected port(s).
VEL
2
32
2
byte
Set independent wheel velocities; bits 0-7 for right
wheel, bits 8-15 for left wheel; in 20mm/sec
increments.
1.1
GRIPPER
33
int
Gripper server commands. See the Gripper or PeopleBot
Manual for details.
1.0
ADSEL
35
int
Selects the A/D port number for reporting ANPORT
value in standard SIP.
1.0
GRIPPERVAL
36
int
Gripper server values. See Gripper or PeopleBot
Manual for details.
1.0
GRIPREQUEST
37
int
Request one, a continuous stream (>1), or stop (0)
Gripper SIPs.
1.0
GYROCALCW
38
uint
Set the clockwise rotation calibration value for the
gyro accessory.
2.0
GYROCALCCW
39
uint
Set the counterclockwise rotation calibration value
for the gyro accessory.
2.0
IOREQUEST
40
int
Request one (1), a continuous stream (>1), or stop
(0) IO SIPs.
1.0
TTY
2
42
str
Sends string argument to serial device connected to
AUX1 serial port.
1.0
GETAUX
43
uint
Request to retrieve 1-200 bytes from the AUX1 serial
port; 0 flushes the buffer.
1.0
BUMPSTALL
44
int
Stall robot if no (0), only front (1) while moving
forward, only rear (2) while moving backward, or
either (3) bumpers contacted when robot moving in
related direction.
1.0
TCM
2
45
int
TCM2 module commands; 0=module off, no readings;
1=compass only, readings in standard SIP; 2=send one
TCM2 packet; 3=send continuous (each cycle) TCM2
packets; 4=user calibration; 5=auto calibration;
6=stop auto-calibration, send one packet, revert to
mode 1; 7=soft reset
1.0
JOYDRIVE
47
int
1=allow joystick drive from port while connected with
a client; 0 (default) disallows.
1.0
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
E
_
STOP
55
none
Emergency
stop;
very
abrupt
by
overriding
deceleration.
1.0
M
_
STALL
56
int
Argument 1=MOTORS button off causes a stall
1.0
GYROREQUEST
58
int
If client-side (HasGyro 1), request one, a continuous
stream (>1), or stop (0) Gyro SIPs. If server-side
(HasGyro 2), 0 disable or 1 to enable the gyro.
1.0
LCDWRITE
59
str
Display a message on the LCD accessory: byte
0=starting column (1-19); byte 1=starting row (1-4);
byte 2=1 if clear line contents first, otherwise 0;
1.3
