51
sipcycle
byte
100
Server information packet cycle time in 1 ms
increments. Default is classic 100 ms.
watchdog
int
2000
Ms time before robot automatically stops if it has
not received a command from a client. Restarts on
restoration of connection.
soundtog
byte
1
0 disables the buzzer
SONARcycle
byte
40
SONAR cycle time in milliseconds
SONAR1
str
12345678
Ping sequence for SONAR array #1. Up to 16 number
characters 1-8; 0 to disable the array
SONAR2
str
0
Ping sequence for array #2. See SONAR1 above
SONAR3
str
0
Ping sequence for array #3. See SONAR1 above
SONAR4
str
0
Ping sequence for array #4. See SONAR1 above
hasgyro
byte
0
Set to 1 (client-side) or 2 (server-side) if you have
the gyro accessory
gyrocw
int
1000
Adjust for gyro type 2 clockwise rotations
gyroccw
int
1000
Adjust for gyro type 2 counter-clockwise rotations
gyroratelimit
int
0
Degs per sec X 10 below which to not believe the
gyro; 0 = internal default of 20 = 2 deg/sec
gyrorange
int
0
Max rotational speed of gyro (SPI-based only); 0
internal default = 320 deg/sec
hasbrakes
byte
0
1 if your robot has brakes; 0 if not.
charger
byte
0
Set to 1 if P3/PeopleBot or 2 if PowerBot autocharger
mechanism and circuitry installed; otherwise 0
chargethreshold int
0
PowerBot only
gripper
byte
0
Set to 1 if DX/AT Gripper; 2 if Gripper on
Performance PeopleBot
tcm2
byte
0
TCM2 module, if connected, specify AUX port number 1,
2, or 3
lcd
byte
0
LCD module, if attached, specify AUX port number 1,
2, or 3
uichange
byte
1
0 restricts number of user options selectable with
LCD
frontbumps
byte
0
Number of front bumper segments
rearbumps
byte
0
Number of rear bumper segments
invertbumps
byte
0
0=none; 1=front; 2=rear; or 3=invert both; affects
STALL bits in std. SIP only.
bumpstall
byte
0
3=disable bump stall; 1=enable rear; 2=enable front;
0=enable both front and rear bump stalls
frontirs
str
0
Associates IR ports with respective front bumpers
rearirs
str
0
Associates IR ports with respective rear bumpers
invertirs
byte
0
0=none; 1=front; 2=rear; or 3=invert both; only related to
bumper responses.
stallval
int
200
Maximum PWM before stall. If > PwmMax, never.
