AmigoBot Mobile Robots
25
Table 6-5. AmigOS/PSOS command set
Command
#
Args
Description
PSOS
P2OS
AmigOS
Before Client Connection
SYNC0
0
none
Start connection; echoes
3.x
1.0
1.0
SYNC1
1
none
synchronization commands
SYNC2
2
none
back to client.
After Established Connection
PULSE
0
none
Client pulse resets watchdog
3.x
1.0
1.0
OPEN
1
none
Starts the controller
3.x
1.0
1.0
CLOSE
2
none
Close client-server connection
3.x
1.0
POLLING
3
string
Set sonar polling sequence
3.9
1.0
1.0
ENABLE
4
int
Enables/disables the motors
–
1.0
1.0
SETA
5
signed int
Sets translation
acc/deceleration; in mm/sec
2
–
1.0
1.0
SETV
6
int
Set maximum translation
velocity (mm/sec)
4.8
1.0
1.0
SETO
7
none
Resets server to 0,0,0 origin
3.x
1.0
1.0
SETRV
10
int
Sets maximum rotational
velocity; in degrees/sec
4.8
1.0
1.0
VEL
11
int
Move forward (+) or reverse (-)
at mm/sec
3.x
1.0
1.0
HEAD
12
int
Turn to absolute heading;
0-359 degrees
4.2
1.0
1.0
DHEAD
13
int
Turn relative to current
heading; ± degrees
3.x
1.0
1.0
SAY
15
string
Sound duration (20 ms
increments)/tone (half-cycle)
pairs;
int
is string length
4.2
1.0
Not ap-
plicable;
see
SOUND
CONFIG
18
int
Request configuration SIP
–
1.4
1.0
ENCODER
19
int
Request continuous (>0) or stop
sending (=0) encoder SIPs
–
1.4
1.0
RVEL
21
signed int
Rotate at ± degrees/sec
4.2
1.0
1.0
DCHEAD
22
int
Colbert relative heading
setpoint; ± degrees
4.2
1.0
1.0
SETRA
23
int
Sets rotational (±)de/
acceleration in mm/sec
2
–
1.0
1.0
SONAR
28
int
Enable (1) or disable (0) the
sonars
–
1.0
1.0
STOP
29
none
Stops robot (motors remain
enabled)
–
1.0
1.0
DIGOUT
30
int
Msbits is a byte mask that
selects output port(s) for
changes; lsbits set (1) or reset
(0) the selected port.
4.2
1.2
–
VEL2
32
int
Independent wheel velocities;
lsb=right wheel; msb=left
wheel; PSOS is in +-4mm/sec;
POS/AmigOS in 2 cm/sec
increments
4.1
1.0
1.0
GRIPPER
33
int
Pioneer Gripper server
command. See the Pioneer
Gripper manuals for details.
4.0
1.3
–
ADSEL
35
int
Select the A/D port number for
analog value in SIP. Selected
port reported in SIP Timer
value.
–
1.2
1.0