37
Transki
int
Current Integral PID for translation.
Frontbumps
byte
Number of front bumper segments.
Rearbumps
byte
Number of rear bumper segments.
Charger
byte
1 if P3/PeopleBot or 2 if PowerBot automated charger mechanism
and circuitry installed in robot; otherwise 0.
SONARcycle
byte
SONAR duty cycle time in milliseconds.
Autobaud
byte
1 if the client can change baud rates; 2 if auto-baud
implemented.
HasGyro
byte
1 or 2 if robot equipped with the gyro heading correction
device; otherwise 0.
Driftfactor
int
Working drift factor value.
Aux2baud
byte
Baud rate for AUX2 serial port; see HostBaud.
Aux3baud
byte
Baud rate for AUX3 serial port; see HostBaud.
Ticksmm
int
Encoder ticks per millimeter tire motion
Shutdownvolts
int
DC volts X10 at or below which the onboard PC will shut down
W
ITH VERSION
1.5...
VersionMajor
VersionMinor
str
Null-terminated string for ARCOS version numbers (period char
“.” separator
GyroCW
int
Gyro calibration factor clockwise
GyroCCW
int
Gyro calibration factor counterclockwise
KinematicsDelay byte
Time delay (ms) between acquisition and reporting of rotation
NULL
23
bytes
Configuration values not used with Pioneer.
S
ERIAL
The baud rates for the HOST and AUX serial ports initially are set from their respective FLASH-based defaults and get
reset to those values whenever the microcontroller is reset or upon client disconnection. For advanced serial port
management from the client side, ARCOS provides four client commands which let your software reset the HOST
(
HOSTBAUD
#50), Aux1 (
AUX1BAUD
#51), Aux2 (
AUX2BAUD
#52) and Aux3 (
AUX3BAUD
#53) serial port baud rates,
respectively. Use the integer command argument values: 0=9600, 1=19.2K, 2=38.8K, 3=57.6K, or 4=115.2K baud,
respectively.
With auto-bauding, the HOST serial port automatically reverts to its FLASH default baud rate if, after being reset by the
HOSTBAUD client command, it does not receive a subsequent and valid client-command packet within 500
milliseconds.
HOST-to-AUX Serial Transfers
Use the client-side
TTY2
command #42 with a string argument to have that string sent out the Aux1 port to the
attached serial device, such as a robotic camera. Similarly, use the
TTY3
command #66 to send a string argument out
the Aux2 port or
TTY4
command #60 to send a HOST-mediated client string out the Aux3 port.
ARCOS also maintains three circular buffers for incoming serial data from the respective Aux ports. On request, ARCOS
sends successive portions of the buffer to your client via the HOST serial in the respective
SERAUXpac
(type = 176;
0xB0),
SERAUX2pac
(type = 184; 0xB8) and SERAUX3 (type = 200; 0xC8) SIPs. Use the
GETAUX
#43 for Aux1,
GETAUX2
command #67 for Aux2 and GETAUX3 command #61 for Aux3.