Pioneer 2 / PeopleBot Operation Manual page 57

Table 15. Configuration parameters (currently P2OS 1_J) with values for Pioneer 2-DX
Type
KEYWORD
CONSTANTS
str
Type
Subtype str
Serial str
FourMotors byte
RotVelTop int
int
TransVelTop
RotAccTop int
TransAccTop int
int
PwmMax
Encoder int
VARIABLES
str
Name
SInfoCycle byte
HostBaud byte
byte
AuxBaud
HasGripper int
int
FrontSonar
RearSonar byte
LowBattery int
RevCount int
WatchDog int
P2Mpacs byte
StallVal int
int
StallCount
Compass Int
int
CompX
CompY int
RotVelMax int
int
TransVelMax
RotAcc int
int
RotDecel
RotKp int
RotKv int
int
RotKi
TransAcc int
TransDecel int
int
TransKp
TransKv int
int
TransKi
JoyVelMax int
JoyRVelMax int
Default Description
Should not be changed using p2oscf
Pioneer Identifies the robot type.
P2DX Identifies the ActivMedia robot model.
factory Serial number for the robot.
0 Is '1' for the four-motor Pioneer 2-AT
360 Maximum rotational velocity; deg/sec
2200 Maximum translation speed; mm/sec
600 Maximum rotation (de)acceleration; deg/sec
4000 Maximum translational (de)acceleration; mm/sec
500 Maximum motor PWM period (500=fully on).
76 Encoder ticks/mm: (ticks/rev x gear-ratio)
Parameters that you may change with p2oscf
not_set Unique name for your robot.
Maximum of 20 characters, no spaces.
0 Server information packet communication cycle
time: 0=classic 100 ms; 1=new 50 ms cycle time
0 Baud rate for host (client) serial port
connection: 0=9600, 1=19200, 2=38400 bps.
2 Baud rate for AUX serial port; see HostBaud
0 1 if P2 Gripper installed into User I/O; 2 if
installed in General I/O; otherwise 0
1 1 if front sonar array installed; otherwise 0
0 1 if rear sonar array installed; otherwise 0
110 In 1/10 volts; microcontroller alarm activated
when battery charge falls below this value.
20000 The number of differential encoder ticks for a
360 degree revolution of the robot.
2000 Ms time before robot automatically stops if it
has not received a command from a client.
Restarts on restoration of connection.
0 1 enables alternative SIP. Otherwise 0.
200 Maximum PWM before stall. If > PwmMax, never.
100 Ms time after a stall for recovery. Motors not
engaged during this time.
0 Compass type: 0=none; 1=V2XG; 2=TCM2
0 V2XG Compass calibration X-offset
0 V2XG Compass calibration Y-offset
200 Max rotational speed; deg/sec.
300 Max translational speed; mm/sec.
50 Rotational acceleration; deg/sec
50 Rotational deceleration; deg/sec
30 Proportional PID for rotation
200 Differential PID for rotation
0 Integral PID for rotation
300 Translational acceleration; mm/sec
300 Translational deceleration; mm/sec
15 Proportional PID for translation
800 Differential PID for translation
4 Integral PID for translation
600 Joydrive maximum translation velocity
125 Joydrive maximum rotational
ActivMedia Robotics
(wheel_diameter x PI)
2
2
2
2
velocity
2
2
51