Pioneer Server Information Packet; Appendix B - Pioneer Module Mobile Manual

8.

Appendix B

Pioneer Server Information Packet

Name Data Type
Header int
byte
Byte Count
byte = 0x3S; where S =
Status
sfSTATUSNOPOWER
sfSTATUSSTOPPED
sfSTATUSMOVING
unsigned int (15 ls-bits)
Xpos
unsigned int (15 ls-bits)
Ypos
Th pos signed int
L vel signed int
R vel signed int
Battery byte
Bumpers 2 bytes - L and R
Bumpers unsigned int
Control signed int
PTU unsigned int
byte
Say
Sonar byte
readings
Sonar num byte
unsigned int
Sonar range
Input timer unsigned int
User Analog byte
User Input byte
User Output byte
Checksum int
24
Description
Exactly 0xFA, 0xFB
Number of data bytes + 2; must be less than 201
(0xC9)
Motors status
Motors power off
Motors stopped
Robot moving
Wheel-encoder integrated coordinates; platform-
dependent units—multiply by
DistConvFactor in the parameter file to convert to
mm; roll-over ~ 3 m
Orientation in platform-dependent units—multiply
by AngleConvFactor for radians
Wheel velocities (respective Left and Right) in
platform-dependent units—
multiply by VelConvFactor to convert to mm/sec.
Battery charge in tenths of volts
Motor stall indicators
Setpoint of the server's angular position servo—
multiply by AngleConvFactor for radians
Pulse width of position servo
verbal/sound clues
Number of new sonar readings included in
information packet; readings follow:
Sonar number
Sonar reading—multiply by RangeConvFactor for
mm
User input timer reading
User analog input reading
User digital input pins
User digital output pins
Checksum (see previous section)