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ArCommands Class Reference

A class with an enum of the commands that can be sent to the robot. More...

#include <ArCommands.h>

List of all members.

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, CONFIG = 18,
  ENCODER = 19, 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, ESTOP = 55 ,
  LOADPARAM = 61, ENDSIM = 62, LOADWORLD = 63, STEP = 64,
  CALCOMP = 65, SETSIMORIGINX = 66, SETSIMORIGINY = 67, SETSIMORIGINTH = 68,
  RESETSIMTOORIGIN = 69, SOUND = 90, PLAYLIST = 91, SOUNDTOG = 92
}


Detailed Description

A class with an enum of the commands that can be sent to the robot.

A class with an enum of the commands that can be sent to the robot, see the operations manual for more detailed descriptions.


Member Enumeration Documentation

enum ArCommands::Commands
 

Enumeration values:
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  2bytes, independent wheel velocities, first byte = right, second = left
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 aux.
GETAUX  int, requests 1-200 bytes from aux 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 p2 tcm2 manual for details.
JOYDRIVE  Command to tell p2os to drive with the joystick plugged into the robot
ESTOP  none, emergency stop, overrides decel.
LOADPARAM  string, Sim Specific, causes the sim to load the given param file.
ENDSIM  none, Sim Specific, causes the simulator to close and exit.
LOADWORLD  string, Sim Specific, causes the sim to load given world.
STEP  none, Sim Specific, single step mode.
CALCOMP  int, commands for calibrating compass, see compass manual.
SETSIMORIGINX  int, sets the X origin in the simulator.
SETSIMORIGINY  int, sets the Y origin in the simulator.
SETSIMORIGINTH  int, sets the heading at origin in the simulator.
RESETSIMTOORIGIN  int, resets the sim robots poseiton to origin.
SOUND  int, AmigoBot specific, plays sound with given number.
PLAYLIST  int, AmigoBot specific, requests name of sound, 0 for all, otherwise for specific sound
SOUNDTOG  int, AmigoBot specific, enable(1) or diable(0) sound.


The documentation for this class was generated from the following file:
Generated on Tue Nov 12 17:43:51 2002 for Aria by doxygen1.2.13.1 written by Dimitri van Heesch, © 1997-2001