| 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 |
| 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 |
| LOADPARAM |
- Deprecated:
- only supported by SRISim
|
| OLDSIM_LOADPARAM |
- Deprecated:
- only supported by SRISim
|
| ENDSIM |
- Deprecated:
- use SIM_EXIT
|
| OLDSIM_EXIT |
- Deprecated:
- use SIM_EXIT
|
| LOADWORLD |
- Deprecated:
- only supported by SRISim
|
| OLDSIM_LOADWORLD |
- Deprecated:
- only supported by SRISim
|
| STEP |
- Deprecated:
- only supported by SRISim
|
| OLDSIM_STEP |
- Deprecated:
- only supported by SRISim
|
| CALCOMP |
int, commands for calibrating compass, see compass manual |
| SETSIMORIGINTH |
- Deprecated:
- use SIM_SET_POSE
|
| OLDSIM_SETORIGINTH |
- Deprecated:
- use SIM_SET_POSE
|
| RESETSIMTOORIGIN |
- Deprecated:
- use SIM_RESET
|
| OLDSIM_RESETTOORIGIN |
- Deprecated:
- use SIM_RESET
|
| 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) |
| SETLATV |
int, someday will set the vel |
| 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). |
