Omron Pioneer LX User Manual page 121

Table of Contents
Field Siz
e
12
13
14
15
See FAULTFLAGS and FLAGS3 below for more flags.
COMP byt unused
e
Unused on Pioneer LX (always 0).
Pioneer byt
Sonar e
Readings
Count
GRIP_STA byt Pioneer gripper state (unused in PatrolBot, Pioneer LX,
TE e Seekur, Seekur JRr, always 0.)
ANPORT byt Selected Pioneer analog I/O Port (see ADSEL command)
e (unused in PatrolBot, Pioneer LX, Seekur, Seekur Jr, always
0.)
ANALOG byt Pioneer analog input value (0-255=0-5 VDC) (unused in
e PatrolBot, Pioneer LX, Seekur, Seekur Jr.always 0)
DIGIN byt Pioneer digital input (unused in PatrolBot, Pioneer LX,
e Seekur, Seekur Jr.: always 0)
DIGOUT byt Pioneer digital output (unused in PatrolBot, Pioneer LX,
e Seekur, Seekur Jr.: always 0)
BATTERYX int Pioneer battery voltage. Not provided in SIP on Pioneer LX.
10
(But available via
ARIA connected to MTX battery.).
RECHARG byt Recharge stage:
ESTAGE e
Unknown/Invalid
Not Recharging
Charging (Bulk)
Charging (Ovecharge)
Charging (Float)
Page 121 of 134
Description
reserved
(unused on Pioneer LX)
reserved
reserved
ArRobot::getRealBatteryVoltage()
ARIA Function(s)
ArRobot::getRealBatter
yVoltage()
if
ArRobot::getChargeSta
te()
-1
0
1
2
3