Pioneer 3™ Operations Manual

Advanced Robot Control & Operations Software
checksum. It is up to the client to parse the packets, sorted by type for content. Please
consult the respective client application programming manuals for details.
CONFIGpac and CONFIG Command
Send the CONFIG command #18 without an argument to have ARCOS send back a
CONFIGpac SIP packet type 32 (0x20) containing the robot’s operational parameters. Use
the CONFIGpac to examine many of your robot’s default FLASH_based settings and their
working values, where appropriate, as changed by other client commands, such as
SETV and ROTKV.
Table 8. CONFIGpac contents
LABEL DATA DESCRIPTION
HEADER int Common packet header = 0xFAFB
TYPE byte ENCODERpac = 0x20
BYTE COUNT byte Number of following data bytes
ROBOT TYPE str Typically “Pioneer”
SUBTYPE str Identifies the ActivMedia robot model; e.g. “dxsh”,
SERNUM str Serial number for the robot.
4MOTS byte Antiquated (=1 if AT with P2OS)
ROTVELTOP int Maximum rotation velocity; deg/sec
TRANSVELTOP int Maximum translation speed; mm/sec
ROTACCTOP int Maximum rotation (de)acceleration; deg/sec 2
TRANSACCTOP int Maximum translation (de)acceleration; mm/sec 2
PWMMAX int Maximum motor PWM (500=fully on; typically limited to 400 for DX or AT).
NAME str Unique name given to your robot.
SIP byte Server information packet cycle time; ms.
HOSTBAUD byte Baud rate for client-server HOST serial: 0=9.6k, 1=19.2k, 2=38.4k, 3=56.8k,
4=115.2k.
AUXBAUD byte Baud rate for AUX1 serial port; see HostBaud.
GRIPPER int 0 if no Gripper; else 1.
FRONT SONAR int 1 if robot has front sonar array enabled, else 0.
REAR SONAR byte 1 if robot has rear sonar enabled, else 0.
LOWBATTERY int In 1/10 volts; alarm activated when battery charge falls below this value.
REVCOUNT int Working number of differential encoder ticks for a 180 degree revolution of the
robot.
WATCHDOG int Ms time before robot automatically stops if it has not received a command from the
client. Restarts on restoration of connection.
P2MPACS byte 1 means alternative SIP enable; not used by ARCOS.
STALLVAL int Maximum PWM before stall. If > PWMMAX, never.
STALLCOUNT int Ms time after a stall for recovery. Motors lax during this time.
JOYVEL int Joystick translation velocity setting, mm/sec
JOYRVEL int Joystick rotation velocity setting in deg/sec
ROTVELMAX int Current max rotation speed; deg/sec.
TRANSVELMAX int Current max translation speed; mm/sec.
ROTACC int Current rotation acceleration; deg/sec 2
ROTDECEL int Current rotation deceleration; deg/sec 2
ROTKP int Current Proportional PID for rotation
ROTKV int Current Derivative PID for rotation
ROTKI int Current Integral PID for rotation
TRANSACC int Current translation acceleration; mm/sec 2
TRANSDECEL int Current translation deceleration; mm/sec 2
TRANSKP int Current Proportional PID for translation.
TRANSKV int Current Derivative PID for translation.
TRANSKI int Current Integral PID for translation.
FRONTBUMPS byte Number of front bumper segments.
REARBUMPS byte Number of rear bumper segments.
CHARGER byte 1 if P3/PeopleBot or 2 if PowerBot automated charger mechanism and circuitry
installed in robot; otherwise 0.
SONARCYCLE byte Sonar duty cycle time in milliseconds.
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