Client Command Argument Types - Pioneer 2 / PeopleBot Operation Manual

Pioneer 2 Operating System
IOREQUEST
PTUPOS
TTY2
GETAUX
BUMP_STALL
TCM2
DOCK
JOYDRIVE
E_STOP
E_STALL
STEP
ARM
ROTKP
ROTKV
ROTKI
TRANSKP
TRANSKV
TRANSKI
PLAYLIST
The client must send a command packet at least once every watchdog (default is two)
seconds (see next chapter). Otherwise, the robot's onboard drives automatically stop,
but will resume again on receipt of a client packet. To maintain the watchdog, Saphira,
for instance, sends the action-less PULSE command in the absence of other client
commands.
A P2OS command is comprised of a one-byte command number optionally followed by,
if required by the command, a one-byte description of the argument type and the
argument value.

Client Command Argument Types

There are four types of P2OS client command arguments: none, unsigned integers two
bytes long, signed integers two bytes long, and NULL-terminated strings consisting of as
many as 196 characters.
The byte order, where applicable, is least-significant byte first. Negative integers are
transmitted as their absolute value (unlike information packets, which use sign extension
34
40 none Request 1 or a continuous stream (>1) or
tell to stop sending (0) IO SIPs
41 int msb is the port number (1-4) and lsb is the
pulse width in 100µsec units PSOS, 10µsec
units P2OS. Version 1.J uses RC-servo
40ms duty cycle.
42 string Send string argument to serial device
connected to AUX port on microcontroller
43 int Request to retrieve 1-200 bytes from the
aux serial channel; 0 flushes the aux serial
input buffer.
44 int Stop and register a stall if front (1), rear (2)
or either (3) bump-ring contacted. Off
(default) is 0.
45 int TCM2 Module commands; see TCM2
Manual for details.
46 int Default is 0=OFF; 1=enable docking
signals; 2=enable docking signals and stop
the robot when docking power sensed.
47 int Default is O=OFF; 1=allow joystick drive
from hardware port
55 none Emergency stop, overrides deceleration
56 int Emergency stop button causes stall on
PeopleBot only
64 none Single-step mode (simulator only)
70 Please consult the Pioneer 2 Arm Manual
– – for details.
80
82 int Change rotation's proportional drive factor
83 int Change rotation's differential drive factor
84 int Change rotation's integral drive factor
85 int Change translation proportional drive factor
86 int Change translation differential drive factor
87 int Change translation integral drive factor
90 int Must be 0; request AmigoBot sound playlist
– 1.E
4.5 1.2
-
1.J
4.2 1.0
1.4
–
– 1.5
– 1.6
– 1.C
– 1.G
– 1.8
– 1.E
3.x 1.0
1.H
–
– 1.J
– 1.J
– 1.J
–
–
–
– 1.E