Aria
2.7.5.2
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A class containing names for most robot microcontroller system commands. More...
#include <ArCommands.h>
Public Types | |
enum | Commands { PULSE = 0, OPEN = 1, CLOSE = 2, POLLING = 3, ENABLE = 4, SETA = 5, SETV = 6, SETO = 7, MOVE = 8, ROTATE = 9, SETRV = 10, VEL = 11, HEAD = 12, DHEAD = 13, SAY = 15, JOYINFO = 17, CONFIG = 18, ENCODER = 19, SETRVDIR = 20, RVEL = 21, DCHEAD = 22, SETRA = 23, SONAR = 28, STOP = 29, DIGOUT = 30, VEL2 = 32, GRIPPER = 33, ADSEL = 35, GRIPPERVAL = 36, GRIPPERPACREQUEST = 37, IOREQUEST = 40, PTUPOS = 41, TTY2 = 42, GETAUX = 43, BUMPSTALL = 44, TCM2 = 45, JOYDRIVE = 47, MOVINGBLINK = 49, HOSTBAUD = 50, AUX1BAUD = 51, AUX2BAUD = 52, ESTOP = 55, ESTALL = 56, GYRO = 58, TTY4 = 60, GETAUX3 = 61, BATTERYINFO = 62, TTY3 = 66, GETAUX2 = 67, BATTEST = 250, LOADPARAM = 61, OLDSIM_LOADPARAM = 61, ENDSIM = 62, OLDSIM_EXIT = 62, LOADWORLD = 63, OLDSIM_LOADWORLD = 63, STEP = 64, OLDSIM_STEP = 64, CALCOMP = 65, SETSIMORIGINTH = 68, OLDSIM_SETORIGINTH = 68, RESETSIMTOORIGIN = 69, OLDSIM_RESETTOORIGIN = 69, SOUND = 90, PLAYLIST = 91, SOUNDTOG = 92, POWER_PC = 95, POWER_LRF = 96, POWER_5V = 97, POWER_12V = 98, POWER_24V = 98, POWER_AUX_PC = 125, POWER_TOUCHSCREEN = 126, POWER_PTZ = 127, POWER_AUDIO = 128, POWER_LRF2 = 129, LATVEL = 110, LATACCEL = 113, SETLATV = 0, SIM_SET_POSE = 224, SIM_RESET = 225, SIM_LRF_ENABLE = 230, SIM_LRF_SET_FOV_START = 231, SIM_LRF_SET_FOV_END = 232, SIM_LRF_SET_RES = 233, SIM_CTRL = 236, SIM_STAT = 237, SIM_MESSAGE = 238, SIM_EXIT = 239 } |
A class containing names for most robot microcontroller system commands.
A class with an enum of the commands that can be sent to the robot, see the robot operations manual for more detailed descriptions.
enum ArCommands::Commands |
Enumerator | |
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PULSE |
none, keep alive command, so watchdog doesn't trigger |
OPEN |
none, sent after connection to initiate connection |
CLOSE |
none, sent to close the connection to the robot |
POLLING |
string, string that sets sonar polling sequence |
ENABLE |
int, enable (1) or disable (0) motors |
SETA |
int, sets translational accel (+) or decel (-) (mm/sec/sec) |
SETV |
int, sets maximum velocity (mm/sec) |
SETO |
int, resets robots origin back to 0, 0, 0 |
MOVE |
int, translational move (mm) |
ROTATE |
int, set rotational velocity, duplicate of RVEL (deg/sec) |
SETRV |
int, sets the maximum rotational velocity (deg/sec) |
VEL |
int, set the translational velocity (mm/sec) |
HEAD |
int, turn to absolute heading 0-359 (degrees) |
DHEAD |
int, turn relative to current heading (degrees) |
SAY |
string, makes the robot beep. up to 20 pairs of duration (20 ms incrs) and tones (halfcycle) |
CONFIG |
int, request configuration packet |
ENCODER |
int, > 0 to request continous stream of packets, 0 to stop |
SETRVDIR |
int, Sets the rot vel max in each direction |
RVEL |
int, set rotational velocity (deg/sec) |
DCHEAD |
int, colbert relative heading setpoint (degrees) |
SETRA |
int, sets rotational accel(+) or decel(-) (deg/sec) |
SONAR |
int, enable (1) or disable (0) sonar |
STOP |
int, stops the robot |
DIGOUT |
int, sets the digout lines |
VEL2 |
int, independent wheel velocities, first 8 bits = right, second 8 bits = left, multiplied by Vel2 divisor. See manual. |
GRIPPER |
int, gripper server command, see gripper manual for detail |
ADSEL |
int, select the port given as argument |
GRIPPERVAL |
p2 gripper server value, see gripper manual for details |
GRIPPERPACREQUEST |
p2 gripper packet request |
IOREQUEST |
request iopackets from p2os |
PTUPOS |
most-sig byte is port number, least-sig byte is pulse width |
TTY2 |
string, send string argument to serial dev connected to aux1 |
GETAUX |
int, requests 1-200 bytes from aux1 serial channel, 0 flush |
BUMPSTALL |
int, stop and register a stall if front (1), rear (2), or both (3) bump rings are triggered, Off (default) is 0 |
TCM2 |
TCM2 module commands, see tcm2 manual for details. |
JOYDRIVE |
Command to tell p2os to drive with the joystick plugged into the robot |
MOVINGBLINK |
int, 1 to blink lamp quickly before moving, 0 not to (for patrolbot) |
HOSTBAUD |
int, set baud rate for host port - 0=9600, 1=19200, 2=38400, 3=57600, 4=115200 |
AUX1BAUD |
int, set baud rate for Aux1 - 0=9600, 1=19200, 2=38400, 3=57600, 4=115200 |
AUX2BAUD |
int, set baud rate for Aux2 - 0=9600, 1=19200, 2=38400, 3=57600, 4=115200 |
ESTOP |
none, emergency stop, overrides decel |
GYRO |
int, set to 1 to enable gyro packets, 0 to disable |
BATTERYINFO |
int, requests battery info packets, 0 to stop, 1 for 1, 2 for continuous |
LOADPARAM |
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OLDSIM_LOADPARAM |
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ENDSIM |
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OLDSIM_EXIT |
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LOADWORLD |
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OLDSIM_LOADWORLD |
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STEP |
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OLDSIM_STEP |
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CALCOMP |
int, commands for calibrating compass, see compass manual |
SETSIMORIGINTH |
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OLDSIM_SETORIGINTH |
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RESETSIMTOORIGIN |
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OLDSIM_RESETTOORIGIN |
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SOUND |
int, AmigoBot (old H8 model) specific, plays sound with given number |
PLAYLIST |
int, AmigoBot (old H8 model) specific, requests name of sound, 0 for all, otherwise for specific sound |
SOUNDTOG |
int, AmigoBot (old H8 model) specific, enable(1) or diable(0) sound |
POWER_PC |
int, Powers on or off the PC (if the firwmare is set up to do this in its power settings) |
POWER_LRF |
int, Powers on or off the laser (if the firwmare is set up to do this in its power settings) |
POWER_5V |
int, Powers on or off the 5v accessories (if the firwmare is set up to do this in its power settings) |
POWER_12V |
int, Powers on or off the 12v accessories (if the firwmare is set up to do this in its power settings) |
POWER_24V |
int, Powers on or off the 24v accessories (if the firwmare is set up to do this in its power settings) |
POWER_AUX_PC |
int, Powers on or off the auxilliary PC (if the firwmare is set up to do this in its power settings) |
POWER_TOUCHSCREEN |
int, Powers on or off the touchscreen (if the firwmare is set up to do this in its power settings) |
POWER_PTZ |
int, Powers on or off the PTZ (if the firwmare is set up to do this in its power settings) |
POWER_AUDIO |
int, Powers on or off the audio (if the firwmare is set up to do this in its power settings) |
POWER_LRF2 |
int, Powers on or off the second laser (if the firwmare is set up to do this in its power settings) |
LATVEL |
int, sets the lateral velocity (mm) |
LATACCEL |
int, sets the lateral acceleration (+, mm/sec2) or lateral deceleration (-, mm/sec2) |
SIM_SET_POSE |
set max. lat. vel. (not available yet) int4,int4,int4 Move robot to global pose in simulator (does not change odometry). Each value is a 4-byte integer. |
SIM_RESET |
none, Reset robot's state to original in simulator and reset odometry to 0,0,0. |
SIM_LRF_ENABLE |
int, 1 to begin sending packets of data from a simulated laser rangefinder (on the same socket connection), 2 to send extended-information laser packets (with reading flags), 0 to disable LRF |
SIM_LRF_SET_FOV_START |
int Set angle (degrees from center) at which the simulater laser takes its first reading (normally -90). |
SIM_LRF_SET_FOV_END |
int Set angle (degrees from center) at which the simulated laser takes its last reading (normally 90). |
SIM_LRF_SET_RES |
int Set the number of degrees between laser readings (in combination with FOV, determines the number of readings per sweep) (normally 1) |
SIM_CTRL |
int,..., Send a simulator meta-command (an operation on the simulator itself). The initial 2-byte integer argument selects the operation. See simulator documentation. |
SIM_STAT |
none, Request that the simulator reply with a SIMSTAT (0x62) packet. You must have a packet handler registered with ArRobot to receive its output. See simulator documentation. |
SIM_MESSAGE |
string, Display a log message in the simulator. Argument is a length-prefixed ASCII byte string. |
SIM_EXIT |
int, Exit the simulator. Argument is the exit code (use 0 for a "normal" exit). |