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A class containing names for most robot microcontroller system commands. More...
#include <ArCommands.h>
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 | |
|---|---|
| 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 |
|
| OLDSIM_LOADPARAM |
|
| ENDSIM |
|
| OLDSIM_EXIT |
|
| LOADWORLD |
|
| OLDSIM_LOADWORLD |
|
| STEP |
|
| OLDSIM_STEP |
|
| CALCOMP | int, commands for calibrating compass, see compass manual |
| SETSIMORIGINTH |
|
| OLDSIM_SETORIGINTH |
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| RESETSIMTOORIGIN |
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| OLDSIM_RESETTOORIGIN |
|
| 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) |
| SRECORD | set max. lat. vel. (not available yet) |
| MARCDEBUG | < int, (for downloading MTX firmware) byte with 0 for wait, 1 for OK, -1 for ERROR (waiting might take 3-5 seconds for debug messages from MARC, possibly responses, possibly pushed... they are ascii strings that should be logged |
| WHEEL_LIGHT | For the wheel lights. |
| ABSOLUTE_MAXES | To set the absolute maxes. |
| SAFETY_STATE_INFO | int, request safety state info packets (0 == stop, 1 == send once, 2 == send continuous), |
| SAFETY_SET_STATE | 2 bytes, first byte which system, second byte for value |
| SAFETY_DISABLE_POWER_OFF_TIMER | int, 0 set off, 1 set on |
| SIM_SET_POSE | 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). |
1.8.13