Operations Manual robotics 3TM, Pioneer 2TM H8-Series

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ActivMedia Robotics

DCHEAD 22 sint Heading setpoint relative to last setpoint;

± degrees (+ = ccw)

1.0

SETRA 23 sint Rotational (+)acceleration or

(-)deceleration, in degrees/sec/sec

1.0 1.0

–

SONAR 28 int 1=enable, 0=disable all the sonar; otherwise, use

bit 0 to enable (1) or disable (0) a particular array

1-4, as specified in argument bits 1-4.

1.0 1.0 –

STOP 29 none Stops robot; motors remain enabled 1.0 1.0 –

DIGOUT 30 2

bytes

Bits 8-15 is a byte mask that selects the output

port(s); Bits 0-7 set (1) or reset (0) the selected

port(s).

1.7

1.2 4.2

VEL2 32 2

bytes

Independent wheel velocities; Bits 0-7 for right

wheel, Bits 8-15 for left wheel; PSOS is in

±4mm/sec; AROS/P2OS in 20mm/sec increments

1.0 1.0 4.1

GRIPPER 33 int Gripper server commands. See the Pioneer 2

Gripper or PeopleBot manual for details.

1.0 1.3 4.0

ADSEL 35 int Selects the A/D port number for reporting Anport

value in standard SIP.

1.0 1.2 –

GRIPPERVAL 36 int Gripper server values. See Pioneer 2 Gripper or

PeopleBot manual for details.

1.0 –

GRIPREQUEST 37 none Request one (1), a continuous stream (>1), or stop

(0) Gripper SIPs. See Pioneer 2 Gripper or

PeopleBot manual for details.

1.0 1.E –

IOREQUEST 40 none Request one (1), a continuous stream (>1), or stop

(0) IO SIPs

1.0 1.E –

PTUPOS 41 2

bytes

Msbyte is port number (1-4), lsbyte is pulse

width in 100µsec units PSOS or 10µsec units

P2OS

– 1.2 4.5

TTY2 42 string Sends string argument to serial device connected

to AUX (AUX1 on H8S) port

1.0 1.0 4.2

GETAUX 43 int Request to retrieve 1-200 bytes from the AUX

(AUX1 on H8S) serial port; 0 flushes the buffer.

1.0 1.4 –

BUMP_STALL 44 int Stall robot if front (1), rear (2) or either (3) bumps

contacted. Off is 0. See BumpStall FLASH for

default.

1.0 1.5 –

TCM2 45 int TCM2 Module commands; see TCM2 Manual for

details.

1.0 1.6 –

DOCK 46 int Default is OFF; 1=enable docking signals;

2=enable docking signals and stop the robot when

docking power sensed.

–

1.C

–

JOYDRIVE 47 int Default is O=OFF; 1=allow joystick drive from

hardware port while also connected with a client

1.0 1.G –

SONAR_CYCLE 48 int Change the sonar cycle time; arg in milliseconds 1.8 – –

HOSTBAUD 50 int Reset the HOST serial port baud rate to 0=9600,

1=19200, 2=38400, 3=57600, or 4=115200

1.8 – –

AUX1BAUD 51 int Resets the AUX1 serial port baud rate 1.8 – –

AUX2BAUD 52 int Resets the AUX2 serial port baud rate 1.8 – –

E_STOP 55 none Emergency stop, overrides deceleration 1.0 1.8 –

M_STALL 56 int 1 (default)=Motors stop button causes stall; 0

(P2OS default)=off

1.0 1.E –

LEDGE 57 int 0 if inactive; 1 if stop when near-IRs triggered; 2

if impose speed control only; 3 if both stop and

speed control

1.5 – –

STEP 64 none Single-step mode (simulator only) 1.0 1.0 3.x

TTY3 66 string Sends string argument to serial device connected

t AUX2 H8S i l t

1.0 – –

No, this isn’t a misprint—the DIGOUT command was mistakenly omitted until version 1.7.