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Packet Errors ........................................................................................................................................22
Autoconfiguration (SYNC2)...................................................................................................................23
Opening the Servers-OPEN ................................................................................................................23
Keeping the Beat-PULSE ....................................................................................................................24
Closing the Connection-CLOSE..........................................................................................................24
...................................................................................................................................24
.................................................................................................................................27
AmigoBot in Motion ..............................................................................................................................28
PID Controls .........................................................................................................................................29
Position Integration...............................................................................................................................29
DriftFactor, RevCount, and TicksMM...................................................................................................30
.......................................................................................................................................................30
Enable/Disable Sonar............................................................................................................................31
Polling Sequence ...................................................................................................................................31
Polling Rate...........................................................................................................................................31
...............................................................................................................................................31
Packet Processing .................................................................................................................................32
CONFIGpac and CONFIG Command ..................................................................................................32
.......................................................................................................................................................33
HOST-to-AUX Serial Transfers.............................................................................................................33
.................................................................................................................................................34
........................................................................................................................................34
TCM2 ........................................................................................................................................................34
CHAPTER 6 UPDATING & RECONFIGURING AMIGOSH..............................................................36
Enabling Maintenance Mode on the Controller....................................................................................36
..............................................................................................................................................37
.............................................................................................................................37
Interactive Commands...........................................................................................................................38
Changing Parameters............................................................................................................................38
....................................................................................................................................39
......................................................................................................................................40
V
CHAPTER 7 CALIBRATION & MAINTENANCE ...............................................................................42
..................................................................................................................................42
..............................................................................................................................43
Charging the Battery .............................................................................................................................43
Alternative Battery Chargers ................................................................................................................43
.........................................................................................................................................44
.....................................................................................................................................44
APPENDIX A ..............................................................................................................................................45
P
& C
ORTS
Battery and Motors Connector..............................................................................................................46
Serial Ports............................................................................................................................................46
Encoders................................................................................................................................................47
Sonar .....................................................................................................................................................47
............................................................................................................23
...............................................................................................................24
....................................................................................................31
....................................................................................................................34
......................................................................................................36
..............................................................................................................36
.....................................................................................................38
,
...............................................................................................40
...................................................................................................................41
......................................................................................................................42
......................................................................................................45
ONNECTIONS
............................................................................................................................45
M
R
OBILE
OBOTS
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