TCM2 Module
13
Appendix A
P2OS Standard Server Information Packet
Name
Data Type
Description
Header
integer
Exactly 0xFA, 0xFB
Byte
Count
byte
Number of data bytes + 2; must be
less than 201 (0xC9)
Status
byte = 0x3S; where S =
Motors status
sfSTATUSSTOPPED (1)
Motors stopped
sfSTATUSMOVING (2)
Robot moving
Xpos
unsigned integer (15 ls-bits)
Wheel-encoder integrated
coordinates; platform-dependent
units; multiply by
Ypos
unsigned integer (15 ls-bits)
DistConvFactor
in the parameter
file to convert to millimeters
Th pos
signed integer
Orientation in platform-dependent
units—multiply by
AngleConvFactor
for degrees.
L vel
signed integer
Wheel velocities (respective Left
and Right) in platform-dependent
units—
R vel
signed integer
Multiply by
VelConvFactor
to
convert to millimeters per second
Battery
byte
Battery charge in tenths of volts
Bumpers
integer
Motor stall indicators; left = msb
Control
signed integer
Setpoint of the server’s angular
position servo—multiply by
AngleConvFactor for degrees
PTU
unsigned integer
Pulse width of selected servo #1
Compass
byte
Compass heading in 2-degree units
Sonar readings
byte
Number of new sonar readings
included in information packet;
readings follow:
Sonar number
byte
Sonar number
Sonar range
unsigned integer
Sonar reading—multiply by
RangeConvFactor for mm
…rest of the sonar readings…
User I/O
Timer
unsigned
int
MSB = P2 Gripper status; LSB =
currently selected analog port
number 1-5
(default is 5)
Analog
byte
User analog input reading (0-255)
on selected port #1-5
Diginput
byte
Digital input port values
Digoutput
byte
Digital output ports
Checksum
signed integer
Checksum
Index
Summary of Contents for Pioneer 2 TCM2
Page 4: ...iv ...
