Adept MobileRobots Pioneer LX, Руководство пользователя

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Pioneer LX User's Guide, Rev. A
Page 124 of 125
Chapter 10: Communication Packet Protocol
LatVelMax Int Currently set lateral velocity maximum (mm/sec) (Pioneer LX Only)
LatAccel Int Currently set lateral acceleration (mm/sec
2
) (Pioneer LX Only)
LatDec Int Currently set lateral deceleration (mm/sec
2
) (Pioneer LX Only)
PChargeThresh Int Unused on Pioneer LX
Pow-
erCommands Int Power command availability for PatrolBot compatibility
BatteryType byte Battery type. 1 = Lead, 2=NiMH.
LowSOC Int Threshold state of charge value at which to warn (default is 10%)
ShutdownSOC Int Threshold state of charge value at which to shut down the robot
(default is 5%)
Packet check-
sum 2bytes Packet checksum
10.8 Joystick Packet
Use the JoyRequest command #17 with an argument value of 0, 1 or 2 to request data from the
robot joystick. An argument value of 1 requests a single JOYSTICK packet (type = 248) to be
sent by the next client-server communications cycle. An argument value of 2 requests that
packets are sent continuously, after each standard SIP, at approximately one per cycle depend-
ing on serial port speed and other pending packets. Use argument value 0 to stop continuous
JOYSTICK packets.
ARIA provides an interface to the robot joystick in its ArRobotJoyHandler class.
JOYSTICK packet contents:
Field Size Value Description
Packet header 2 0xFA, 0xFB Common header
Byte count 1 11 Number of following bytes
Packet type 1 0xF8 Joystick packet type identifier
Connected 1 0 or 1 1 if joystick is connected, 0 if joystick is not
connected or disconnect button is engaged.
Button 1 0 or 1 1 while wheel re-align button is pressed, 0
otherwise. Pioneer LX will always re-align
the wheels if this button is pressed, but it
may be monitored here for software to per-
form any additional actions.
Rotation 2 varies 0-1023 0 is fully to the left, 1023 is fully to the right.
(ARIA converts this to [-1.0,1.0])
Forward/Back 2 varies 0-1023 0 is fully back, 1023 is fully forward. (ARIA
converts this to [-1.0,1.0])
Speed 2 varies 0-1023 Speed knob setting
Packet check-
sum 2 varies Computed checksum