Aria  2.8.0
ArCommands Class Reference

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, SRECORD = 210,
  MARCDEBUG = 211, WHEEL_LIGHT = 212, ABSOLUTE_MAXES = 213, SAFETY_STATE_INFO = 214,
  SAFETY_SET_STATE = 215, SAFETY_DISABLE_POWER_OFF_TIMER = 216, 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
}
 

Detailed Description

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.

Member Enumeration Documentation

◆ 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 
Deprecated:
only supported by SRISim. Conflicts with GETAUX3
OLDSIM_LOADPARAM 
Deprecated:
only supported by SRISim. Conflicts with GETAUX3
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)

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).


The documentation for this class was generated from the following file: