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Table 8. The FLAGS bits
B
IT
C
ONDITION IF SET
0
Motors enabled
1
SONAR array #1 enabled
2
SONAR array #2 enabled
3
SONAR array #3 enabled
4
SONAR array #4 enabled
5
STOP button pressed
6
E_stall engaged
7
Far ledge detected (IR)
8
Near ledge detected (IR)
9
Joystick button 1 pressed
10
Recharging “power-good”
11-15
Reserved
Unlike other stalls, E_STALL also disables the motors. You must
either re-enable the motors manually (
MOTORS
button) or
programmatically (
ENABLE
command #4).
The
E_STALL
server notifies your client software through the
stall
bytes and in bit 5 of the
FLAGS
byte in the standard so that your
client may respond to a STOP
E_STALL
differently than a regular
stall.
Normally enabled (default was disabled in P2OS), change
E_STALL
by sending the ARCOS command #56. With argument of zero,
E_STALL
gets disabled. An argument value of one re-enables
E_STALL
.
A
CCESSORY
C
OMMANDS AND
P
ACKETS
Several types of alternative server information packets (SIPs) come
with ARCOS to better support the
Adept MobileRobots community.
On request from the client by a related ARCOS command, the
ARCOS server packages and sends one or a continuous stream of
information packets to the client over the HOST serial
communication line. Extended packets get sent immediately
before (such as
GYROpac
and
JOYSTICKpac
) or after (such as
IOpac
) the standard SIP that ARCOS sends to your client every
SipCycle
milliseconds.
13
The standard SIP takes priority so you may have to adjust the
HOST
serial baud rate to accommodate all data packets in
the allotted cycle time, or some packets may never get sent.
Packet Processing
Identical with the standard SIP, all ARCOS server information packets get encapsulated with the header (0xFA, 0xFB;
250, 251), byte count, packet type byte and trailing 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
.
Note that the parameter list may be extended for other Pioneer platforms.
Table 9. CONFIGpac contents
L
ABEL
D
ATA
D
ESCRIPTION
Header
int
Common packet header = 0xFAFB
Byte count
byte
Number of following data bytes
Packet type
byte
CONFIGpac = 0x20
Robot type
str
Typically “Pioneer”
Subtype
str
Identifies the MobileRobots model; e.g. “p3dx-sh”,
Sernum
str
Serial number for the robot.
13
You may have to adjust the
HOST
serial baud rate to accommodate the additional communications traffic.
