Pioneer LX User's Guide, Rev. A
Page 115 of 125
Chapter 10: Communication Packet Protocol
File
Size
Description
ARIA Function
ArRobot::getRawEncoderPose()
without transformation.
THPOS
int
Orientation (theta) in angular units
of 2π/4096 radians (Angle-
ConvFactor
1
= 0.001534).
ArRobot::getTh(), ArRobot::getPose()
with pose tranform applied.
ArRobot::getRawEncoderPose()
without transformation.
L VEL
int
Average velocity of left side of robot
in millimeters per second (used by
ARIA to determine translational and
rotational velocity components)
ArRobot::getLeftVel()
ArRobot::getVel() for robot trans-
lational velocity (speed)
R VEL
int
Average velocity of right side of
robot in millimeters per second (used
by ARIA to determine translational
and rotational velocity components)
ArRobot::getRightVel()
ArRobot::getVel() for robot tras-
lational velocity (spee)
BATTERY byte Not provided in SIP packet on Pio-
neer LX, But available via
ArRo-
bot::getBatteryVoltage()
if
ARIA connected to MTX battery. (See
also BATTERYX10 and STATE-
OFCHARGE fields below)
ArRobot::getBatteryVoltage()
STALL
uint Motor stall indicators:
Bit
Condition if set (1)
0
Set if any bumper hit (“left”
or “right” stall in ARIA)
1-3
Bit set if bumper hit (left,
center, right)
5-7
Unused on Pioneer LX
8
Set if any bumper hit (“left”
or “right” stall in ARIA)
9-15
Unused on Pioneer LX
ArRobot::getStallValue()
ArRobot::isLeftMotorStalled()
ArRobot::isRightMotorStalled()
ArBumpers class
CONTROL int
unused
FLAGS
uint General status flags:
Bit
Condition if set (1)
0
Motors enabled
1
Pioneer sonar array #1 ena-
bled (N/A on Pioneer LX)
2
Pioneer sonar array #2 ena-
bled (N/A on Pioneer LX)
3
Pioneer sonar array #3 ena-
bled (N/A on Pioneer LX)
4
Pioneer sonar array #4 ena-
bled (N/A on Pioneer LX)
5
E-Stop button pressed
6
Pioneer E-stall engaged (N/A
ArRobot::getFlags()
ArRobot::areMotorsEnabled()
ArRobot::isEStopPRessed()
Summary of Contents for Pioneer LX
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