Table of Contents
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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 the
argument value.
Table 3. AROS/P2OS/PSOS client command packet protocol
COMPONENT
HEADER
BYTE COUNT
COMMAND
NUMBER
ARGUMENT
TYPE
ARGUMENT
CHECKSUM
Table 4. AROS/P2OS/PSOS command set
#
COMMAND
0
0
SYNC
1
1
SYNC
2
2
SYNC
0
PULSE
1
OPEN
2
CLOSE
ING
3
POLL
4
ENABLE
5
SETA
6
SETV
7
SETO
8
MOVE
9
ROTATE
10
SETRV
11
VEL
12
HEAD
13
DHEAD
15
SAY
18
CONFIG
19
ENCODER
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
none
Start connection. Send in sequence. AROS echoes
none
synchronization commands back to client, and
none
robot-specific autosynchronization after SYNC2.
After Established Connection
none
Resets server watchdog
none
Starts the AROS servers
none
Close servers and client connection
string
Change sonar polling sequence (see text)
int
1=enable; 0=disable the motors
Sint
Translational acceleration, if positive, or
deceleration, if negative; mm/sec/sec
int
Sets maximum translational velocity; mm/sec
none
Resets local position to 0,0,0 origin
Sint
Translate (+) forward or (-) back mm distance
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
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
ActivMedia Robotics
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
–
35
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