Joystick Packet - Omron Pioneer LX User Manual

Table of Contents
Field Data
Type
GyroCCW int
KinematicsDelay byte
LatVelTop Int
LatAccTop Int
LatVelMax Int
LatAccel Int
LatDec Int
PChargeThresh Int
PowerCommands Int
BatteryType byte
LowSOC Int
ShutdownSOC Int
Packet checksum 2bytes

2.8 Joystick Packet

Use the JoyRequest command #17 with an argument value of 0, 1 or 2 to request data from the robot
joystick. An argument value of 1 requests a single JOYSTICK packet (type = 248) to be sent by the next
client-server communications cycle. An argument value of 2 requests that packets are sent continuously,
after each standard SIP, at approximately one per cycle depending on serial port speed and other pending
packets. Use argument value 0 to stop continuous JOYSTICK packets.
ARIA provides an interface to the robot joystick in its ArRobotJoyHandler class.
JOYSTICK packet contents:
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Gyro calibration factor counterclockwise
Time delay (ms) between acquisition and reporting of rotation
Absolute maximum lateral velocity allowed (mm/sec) (Pioneer LX
Only.)
Absolute maximum lateral acceleration allowed (mm/sec
Only.)
Currently set lateral velocity maximum (mm/sec) (Pioneer LX Only)
Currently set lateral acceleration (mm/sec
Currently set lateral deceleration (mm/sec
Unused on Pioneer LX
Power command availability for PatrolBot compatibility
Battery type. 1 = Lead, 2=NiMH.
Threshold state of charge value at which to warn (default is 10%)
Threshold state of charge value at which to shut down the robot
(default is 5%)
Packet checksum
Description
2 ) (Pioneer LX Only)
) (Pioneer LX Only)
2
) (Pioneer LX
2