Client Commands - ActivMedia Robotics 3TM Operation Manual

ActivMedia Robotics Operating System
C C
LIENT OMMANDS
AROS has a structured command format for receiving and responding to directions from
a client for control and operation of your ActivMedia robot or the simulator. Client
commands are comprised of a one-byte command number optionally followed, if
required by the command, by a one-byte description of the argument type and then
the argument value.
Table 4. AROS/P2OS/PSOS client command packet protocol
COMPONENT
HEADER
BYTE COUNT
COMMAND
NUMBER
ARGUMENT
TYPE
ARGUMENT
CHECKSUM
Table 5. AROS/P2OS/PSOS command set
COMMAND
0
SYNC
1
SYNC
2
SYNC
PULSE
OPEN
CLOSE
POLLING
ENABLE
SETA
SETV
SETO
MOVE
ROTATE
10
SETRV
11
VEL
12
HEAD
13
DHEAD
15
SAY
18
CONFIG
19
ENCODER
21
RVEL
22
DCHEAD
34
BYTES VALUE
2 0xFA, 0xFB
1 N
1 0 - 255
1 0x3B or
0x1B or
0x2B
n data
2 computed
#
ARGS DESCRIPTION
Before Client Connection
0 none Start connection. Send in sequence. AROS echoes
1 none synchronization commands back to client, and
2 none robot-specific autosynchronization after SYNC2.
After Established Connection
0 none Resets server watchdog
1 none Starts the AROS servers
2 none Close servers and client connection
3 string Change sonar polling sequence (see text)
4 int 1=enable; 0=disable the motors
5 sint Translational acceleration, if positive, or
deceleration, if negative; mm/sec/sec
6 int Sets maximum translational velocity; mm/sec
7 none Resets local position to 0,0,0 origin
8 sint Translate (+) forward or (-) back mm distance
9 sint Rotate (+) counter- or (-) clockwise degrees/sec
int Sets maximum rotational velocity; degrees/sec
sint Translate at mm/sec forward (+) or backward (-)
sint Turn to absolute heading; ±degrees (+ = ccw )
sint Turn relative to current heading; (+) counter- or
(–) clockwise degrees
string As many as 20 pairs of duration (20 ms
increments) /tone (half-cycle) pairs
none Request configuration SIP
int Request one (1), a continuous stream (>1), or stop
(0) encoder SIPs
sint Rotate at (+) counter- or (–) clockwise;
degrees/sec
sint Heading setpoint relative to last setpoint;
DESCRIPTION
Packet header; same for client and server
Number of command/argument bytes plus
Checksum's two bytes, but not including Byte Count
itself or the header bytes. Maximum of 249.
Client command number;
see Table 7.
Required data type of command argument:
positive integer,
negative or absolute integer,
or string (ARGSTR)
Command argument; always 2-byte integer or string
containing length prefix
Packet integrity checksum
2
AROS P OS PSOS
1.0 1.0 3.x
1.0 1.0 3.x
1.0 1.0 3.x
1.0 1.0 3.x
1.0 1.0 3.9
1.0 1.0 –
1.0 1.0
–
1.0 1.0 4.8
1.0 1.0 3.x
1.0 1.0 –
1.0 1.0 –
1.0 1.0 4.8
1.0 1.0 3.x
1.0 1.0 4.2
1.0 1.0 3.x
1.0 1.0 4.2
1.0 1.4 –
1.0 1.4 –
1.0 1.0 4.2
1.0