Client Commands - Omron Pioneer LX User Manual

Table of Contents
Field Siz
e
STATEOFC byt Amount of remaining battery charge, 0-100% (unused in
HARGE e Pioneer, PatrolBot)
FPTM uby Internal time counter. (Added in MARC 1.4707)
te4
FLAGS3 uby
(Added in MARC 1.5.5286)
te4
bit
0
1
2
3
4
5
6
7
8
9-31 reserved
CHECKSU 2 checksum
M byt
es

2.4 Client Commands

Client commands are packets sent from client software to MARC. The packet ID indicates the command,
and depending on the command, argument data may follow.
ARIA's ArRobot and other classes which serve as interfaces to the robot which will send commands and
requests. ARIA's ArRobot class also contains functions to easily send any command with arguments.
Not all commands listed below are implemented by Pioneer LX. These are indicated in grey italic.
A command's argument may be a two-byte (16-bit) integer, ordered as least-significant byte first (little
endian). The integer absolute value is provided in the packet; whether it should be interpreted as a
positive or negative number is indicated by the argument type byte (0x3B or 0x1B). The argument may
also be a string or buffer of up to a maximum of 200 bytes, prefaced by a length byte and may or may not
be NULL terminated. Some commands have other command-specific argument formats as well. How
exactly a command's argument should be interpreted is documented with commands is specified in the
list of commands below.
Command Packet Format
Field Size
(bytes)
Page 123 of 134
Description
description
Joystick override mode
Motor communication error
internal
internal
internal
internal control error
Tilt detection
internal power error
gyro calibration error
Value
ARIA Function(s)
ArRobot::hasStateOfCh
arge()
ArRobot::getStateOfCh
arge()
Description