ARCOS
42
N AN
1
9
Number of A/D values
AN
10
5 integers varying
0-1023
Analog ports 0-7 input values at 10-bit
resolution: 0-1023 = 0-5 VDC
Battery
2
0-1023
Battery analog input (AN3 Pioneer 3)
Checksum
2
varies
Computed checksum
* Actual, not affected by
InvertBumps
since bumper bits may be used for other digital input besides bumpers.
Bumper and IR I/O
Two 10-position microfit connectors on the ARCOS microcontroller provide 16 digital input ports that are normally used
for the bumper accessory, but also available for your own attachments. See
Appendix A
for connector details.
Similarly, the Motor-Power connector on the microcontroller contains eight digital inputs that we normally use for IR
sensors on the Performance PeopleBot and PowerBot, and whose states are digitally mapped. See
Appendix B
for
connector details.
Normally pulled high (5 VDC=digital port bit value 1), all the bumper and IR bit-mapped switches go low (digital 0) when
the respective port gets triggered. Bumper inputs also appear with the stall bits in the standard SIP, but unlike in the
IOpac
, are modified by the
InvertBumps
mask. All the bumper and IR data bits appear in the
IOpac
packet.
Additionally, the IR inputs may be mapped in the FLASH parameters to corresponding bumper inputs for reflexive-like
reactions, such as bump-related stalls. See
Chapter 7, Updating and Reconfiguring ARCOS
, for details.
J
OYSTICK
Use the ARCOS client
JOYREQUEST
command number 17 with an argument value of zero, one or two to request
information about the joystick, if it is enabled (see next Chapter). The argument value one requests a single packet
(type = 248; 0xF8) to be sent by the next client-server communications cycle. The request argument value of two tells
ARCOS to send
JOYSTICKpac
packets continuously, at approximately one per cycle depending on serial port speed and
other pending SIPs. Use the
JOYREQUEST
argument value zero to stop continuous
JOYSTICKpac
packets.
G
RIPPER
Please consult the Pioneer Gripper manual for details on using the gripper.
L
ABEL
D
ATA
V
ALUE
D
ESCRIPTION
header
2
0xFA, 0xFB
Common header
Byte count
1
11
Varies
type
1
0xF8
Packet type
button0
1
0 or 1
1=button pressed
button1
1
0 or 1
1=button pressed
X-axis
2
varies 0-1023
Rotation analog
Y-axis
2
varies 0-1023
Translation analog
throttle
2
varies 0-1023
Throttle setting
checksum
2
varies
Computed checksum
