Pioneer LX User's Guide, Rev. A
Page 118 of 125
Chapter 10: Communication Packet Protocol
Connection Initialization and Maintenance Commands:
“byte” indicates a single byte value (usually unsigned). “int” indicates a signed 16-bit (2-byte)
integer value (LSB). “uint” indicates an unsigned 16-bit (2-byte) integer value (LSB).
During Connection Initialization Handshake:
Command
#
Args
Description
SYNC0
0
none
Start connection. Send in sequence. ARCOS echoes
SYNC1
1
none
synchronization commands back to client, and
SYNC2
2
none
robot-specific auto-synchronization after SYNC2.
After Established Connection:
PULSE
0
none
Reset server watchdog timeout. Send this command periodically
if not sending any other commands to maintain connection and
prevent watchdog from triggering. (See below.)
OPEN
1
none
Start sending data.
CLOSE
2
none
Stop sending data and close client connection.
RESET
253 none
Force reset of the microcontroller.
Robot Motor, Velocity and Position Control:
See Robots in Motion discussion below on page 42. To stop the robot, send STOP, or VEL,
RVEL commands with 0 argument values.
Command
#
Args
Description
ARIA Function (s)
ENABLE
4
int
1=enable; 0=disable the
motors.
ArRobot::enableMotors()
ArRobot::disableMotors()
VEL
11
int
Set velocity for for-
ward/backward trans-
lation (mm/sec). May be
combined with RVEL for
simultaneous motion.
Maximum speed is lim-
ited with SETV and
stored firmware param-
eter.
ArRobot::setVel()
or use ArAction objects
RVEL
21
int
Set rotation velocity
(degrees/sec). Positive
argument values rotate
counter-clockwise, neg-
ative value rotate clock-
wise. May be combined
with VEL for simul-
taneous motion. Max-
imum speed is limited
with SETRV and stored
firmware parameter.
(This command replaces
ROTATE; commands are
equivalent.)
ArRobot::setRotVel()
or use ArAction objects
Summary of Contents for Pioneer LX
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