Pioneer 2 / PeopleBot Operation Manual page 39

Table 6. P2OS/PSOS command set
Command #
SYNC0 0
SYNC1 1
SYNC2 2
PULSE 0
OPEN 1
CLOSE 2
POLLING 3
ENABLE 4
SETA 5
SETV 6
SETO 7
MOVE 8
SETRV 10
VEL 11
HEAD 12
DHEAD 13
SAY 15
CONFIG 18
ENCODER 19
RVEL 21
DCHEAD 22
SETRA 23
SONAR 28
STOP 29
DIGOUT 30
VEL2 32
GRIPPER 33
ADSEL 35
GRIPPERVAL 36
GRIPREQUEST 37
Args Description
Before Client Connection
none Start connection; P2OS echoes
none synchronization commands back to
none client.
After Established Connection
none Client pulse resets server watchdog
none Starts the controller
none Close server and client connection
string Set sonar polling sequence
int Enable=1; disable=0 the motors
signed int Resets translational acceleration parameter,
if positive, or deceleration, if negative; in
millimeters per second
int Reset maximum translational velocity, in
millimeters per second
none Resets server to 0,0,0 origin
signed int Translation distance to move in mm
int Resets maximum rotational velocity in
degrees per second
signed int Move forward (+) or reverse (-) at
millimeters per second
signed int Turn to absolute heading (+) =
counterclockwise; ± degrees
signed int Turn relative to current heading (+) =
counterclockwise; ± degrees
string As many as 20 pairs of duration (20 ms
increments) /tone (half-cycle) pairs; int is
string length
int 1=Request configuration SIP
int Request 1 or continuous stream (>1), or tell
to stop sending (0) Encoder SIPs
signed int Rotate at ± degrees per second
signed int Heading setpoint relative to last setpoint;
± degrees; (+) = counterclockwise
signed int Sets rotational (+)acceleration or
(-)deceleration, in mm/sec/sec
int 1=Enable; 0=disable all the sonar
none Stops robot (motors remain enabled)
int Msbits is a byte mask that selects output
port(s) for changes; lsbits set (1) or reset (0)
the selected port.
signed int Independent wheel velocities; lsb=right
wheel; msb=left wheel; PSOS is in
±4mm/sec; P2OS in ±2cm/sec increments
int Pioneer 1 and Pioneer 2 Gripper server
command. See the Pioneer Gripper manuals
for details.
int Select the A/D port number for analog value
in SIP. Selected port reported in SIP Timer
value.
int Pioneer 2 gripper server value. See P2
Gripper Manual for details.
none Request 1 or continuous stream (>1), or tell
to stop sending (0) Gripper SIPs
ActivMedia Robotics
PSOS
3.x
3.x
3.x
3.x
3.9
2
4.8
3.x
4.8
3.x
4.2
3.x
4.2
4.2
4.2
4.1
4.0
P2OS
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
– 1.4
– 1.4
1.0
1.0
–
– 1.0
– 1.0
1.2
1.0
1.3
1.2
–
–
– 1.E
33