AmigoBot Operating System
26
GRIPPERVAL
36
int
Pioneer Gripper server value.
See P2 Gripper Manual for
details.
–
1.3
–
PTUPOS
41
int
Msb is the port number (1-4)
and lsb is the pulse width in
100µsec units PSOS or 10µsec
units P2OS
4.5
1.2
–
TTY2
42
string
Send string argument to serial
device connected to AUX port
on microcontroller
4.2
1.0
1.0
GETAUX
43
int
Request to retrieve 1-200 bytes
from the aux serial channel; 0
flushes the aux serial input
buffer.
–
1.4
1.0
BUMPSTALL
44
int
Stop and register a stall if front
(1), rear (2) or either (3) bump-
ring contacted. Off (default) is
0.
–
1.5
–
TCM2
45
int
TCM2 Module commands; see
P2 TCM2 Manual for details.
–
1.6
–
E_STOP
55
none
Emergency stop, overrides
deceleration
–
1.8
1.0
STEP
64
none
Single-step mode (simulator
only)
3.x
1.0
1.0
SOUND
90
int
Play stored sound
–
–
1.0
PLAYLIST
91
int
Request playlist packet for
sound number or 0 for all user
sounds
–
–
1.0
SOUNDTOG
92
int
Mute (0) or enable (1) sounds
–
–
1.0
The AmigOS command is comprised of a one-byte command number optionally
followed by, if required by the command, a one-byte description of the argument type
and the argument value.
Client Command Argument Types
There are three different types of AmigOS client command arguments: positive integers
two bytes long, negative integers two bytes long, and NULL-terminated strings consisting
of as many as 196 characters.
The byte order is least-significant byte first. Negative integers are transmitted as their
absolute value, unlike information packets, which use sign extension for negative
integers; see below. The argument is an integer, a string, or nothing, depending on the
command.
Saphira Client Command Support
Saphira, as well as Ayllu, PAI, and P-LOGO, all fully supports AmigOS client commands
with useful library functions. You can find prototypes in
$(SAPHIRA)/handler/
include/saphira.h
and
saphira.pro
. Saphira’s AmigOS command names have the
prefix
sfCOM
followed by the command names listed in subsequent tables. (See the
Saphira Software Manual
for details.)
For example, to enable the motors from the Colbert interaction window on the Saphira
client, type:
sfRobotComInt(sfCOMENABLE,1);
Or to send a string out the AUX serial port, type: