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. |