ActivMedia Robotics MOBILEROBOTS Team AmigoBot-SH Operation Manual page 32

AmigoBot-SH Operations Software
Table 5. AmigoSH client-side command set
COMMAND
0
SYNC
1
SYNC
2
SYNC
PULSE
OPEN
CLOSE
POLLING
ENABLE
SETA
SETV
SETO
MOVE
ROTATE
SETRV
VEL
HEAD
DHEAD
SAY
CONFIG
ENCODER
RVEL
DCHEAD
SETRA
SONAR
STOP
DIGOUT
2
VEL
GRIPPER
ADSEL
GRIPPERVAL
GRIPREQUEST
IOREQUEST
2
TTY
GETAUX
_
BUMP STALL
2
TCM
JOYDRIVE
26
#
ARG DESCRIPTION
Before Client Connection
0 none Start connection. Send in sequence. AmigoSH echoes
1 none synchronization commands back to client, and
2 none robot-specific auto-synchronization after SYNC2.
After Established Connection
0 none Reset server watchdog.
1 none Start up servers.
2 none Close servers and client connection.
3 str Change sonar polling sequence.
4 int 1=enable; 0=disable the motors.
5 int Set translation acceleration, if positive, or deceleration, if
negative; in mm/sec
6 int Set maximum/move translation velocity; mm/sec.
7 none Reset local position to 0,0,0 origin.
8 int Translate (+) forward or (-) back mm distance at SETV speed
9 int Rotate (+) counter- or (-) clockwise degrees/sec.
10 int Sets maximum/turn rotation velocity; degrees/sec.
11 int Translate at mm/sec forward (+) or backward (-) (SETV limit).
12 int Turn at SETRV speed to absolute heading; ±degrees (+ = ccw)
13 int Turn at SETRV speed relative to current heading; (+) counter-
or (–) clockwise degrees.
15 str Play up to 20 pairs of duration, tone sound pairs through User
Control Panel piezo speaker.
18 none Request a configuration SIP.
19 int Request one (1), a continuous stream (>1), or stop (0) encoder
SIPs.
21 int Rotate robot at (+) counter- or (–) clockwise; degrees/sec
(SETRV limit).
22 int Adjust heading relative to last setpoint; ± degrees (+ = ccw)
23 int Change rotation de(-) or (+)acceleration, in degrees/sec
28 int 1=enable, 0=disable the sonar
29 none Equivalent to SETV 0 to stop the robot
30 2 Set (1) or reset (0) User Output ports. Accessory required.
byte
32 2 Set independent wheel velocities; bits 0-7 for right wheel, bits
byte 8-15 for left wheel; in 20mm/sec increments.
33 int Gripper server commands. See the Gripper or PeopleBot
Manual for details.
35 int Selects the A/D port number for reporting ANPORT value in
standard SIP.
36 int Gripper server values; not AmigoBot
37 none ditto
40 none Request one (1), a continuous stream (>1), or stop (0) IO SIPs.
42 str Sends string argument to serial device connected to AUX1
serial port.
43 uint Request to retrieve 1-200 bytes from the AUX1 serial port; 0
flushes the buffer.
44 int Stall robot if no (0), only front (1) while moving forward, only
rear (2) while moving backward, or either (3) bumpers
contacted when robot moving in related direction.
45 int TCM2 module commands; see TCM2 Manual for details.
47 int AmigoBot doesn't support nor need a joystick
2
.
A SH
MIGO
VERSION
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
2
1.0
1.0
1.0
1.0
1.1
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0
1.0