Aria: ArCommands Class Reference

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


Public Types
	ADSEL = 35
	int, select the port given as argument
	AUX1BAUD = 51
	int, set baud rate for Aux1 - 0=9600, 1=19200, 2=38400, 3=57600, 4=115200
	AUX2BAUD = 52
	int, set baud rate for Aux2 - 0=9600, 1=19200, 2=38400, 3=57600, 4=115200
	BUMPSTALL = 44
	CALCOMP = 65
	int, commands for calibrating compass, see compass manual
	CLOSE = 2
	none, sent to close the connection to the robot
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, 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, TTY3 = 66, GETAUX2 = 67, 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, 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 }
	CONFIG = 18
	int, request configuration packet
	DCHEAD = 22
	int, colbert relative heading setpoint (degrees)
	DHEAD = 13
	int, turn relative to current heading (degrees)
	DIGOUT = 30
	int, sets the digout lines
	ENABLE = 4
	int, enable (1) or disable (0) motors
	ENCODER = 19
	int, > 0 to request continous stream of packets, 0 to stop
	ENDSIM = 62
	ESTALL = 56
	ESTOP = 55
	none, emergency stop, overrides decel
	GETAUX = 43
	int, requests 1-200 bytes from aux1 serial channel, 0 flush
	GETAUX2 = 67
	GRIPPER = 33
	int, gripper server command, see gripper manual for detail
	GRIPPERPACREQUEST = 37
	p2 gripper packet request
	GRIPPERVAL = 36
	p2 gripper server value, see gripper manual for details
	GYRO = 58
	int, set to 1 to enable gyro packets, 0 to disable
	HEAD = 12
	int, turn to absolute heading 0-359 (degrees)
	HOSTBAUD = 50
	int, set baud rate for host port - 0=9600, 1=19200, 2=38400, 3=57600, 4=115200
	IOREQUEST = 40
	request iopackets from p2os
	JOYDRIVE = 47
	JOYINFO = 17
	LATACCEL = 113
	int, sets the lateral acceleration (+, mm/sec2) or lateral deceleration (-, mm/sec2)
	LATVEL = 110
	int, sets the lateral velocity (mm)
	LOADPARAM = 61
	LOADWORLD = 63
	MOVE = 8
	int, translational move (mm)
	MOVINGBLINK = 49
	int, 1 to blink lamp quickly before moving, 0 not to (for patrolbot)
	OLDSIM_EXIT = 62
	OLDSIM_LOADPARAM = 61
	OLDSIM_LOADWORLD = 63
	OLDSIM_RESETTOORIGIN = 69
	OLDSIM_SETORIGINTH = 68
	OLDSIM_STEP = 64
	OPEN = 1
	none, sent after connection to initiate connection
	PLAYLIST = 91
	POLLING = 3
	string, string that sets sonar polling sequence
	POWER_12V = 98
	int, Powers on or off the 12v accessories (if the firwmare is set up to do this in its power settings)
	POWER_24V = 98
	int, Powers on or off the 24v accessories (if the firwmare is set up to do this in its power settings)
	POWER_5V = 97
	int, Powers on or off the 5v accessories (if the firwmare is set up to do this in its power settings)
	POWER_AUDIO = 128
	int, Powers on or off the audio (if the firwmare is set up to do this in its power settings)
	POWER_AUX_PC = 125
	int, Powers on or off the auxilliary PC (if the firwmare is set up to do this in its power settings)
	POWER_LRF = 96
	int, Powers on or off the laser (if the firwmare is set up to do this in its power settings)
	POWER_LRF2 = 129
	int, Powers on or off the second laser (if the firwmare is set up to do this in its power settings)
	POWER_PC = 95
	int, Powers on or off the PC (if the firwmare is set up to do this in its power settings)
	POWER_PTZ = 127
	int, Powers on or off the PTZ (if the firwmare is set up to do this in its power settings)
	POWER_TOUCHSCREEN = 126
	int, Powers on or off the touchscreen (if the firwmare is set up to do this in its power settings)
	PTUPOS = 41
	most-sig byte is port number, least-sig byte is pulse width
	PULSE = 0
	none, keep alive command, so watchdog doesn't trigger
	RESETSIMTOORIGIN = 69
	ROTATE = 9
	int, set rotational velocity, duplicate of RVEL (deg/sec)
	RVEL = 21
	int, set rotational velocity (deg/sec)
	SAY = 15
	SETA = 5
	int, sets translational accel (+) or decel (-) (mm/sec/sec)
	SETLATV = 0
	int, someday will set the vel
	SETO = 7
	int, resets robots origin back to 0, 0, 0
	SETRA = 23
	int, sets rotational accel(+) or decel(-) (deg/sec)
	SETRV = 10
	int, sets the maximum rotational velocity (deg/sec)
	SETSIMORIGINTH = 68
	SETV = 6
	int, sets maximum velocity (mm/sec)
	SIM_CTRL = 236
	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_EXIT = 239
	int, Exit the simulator. Argument is the exit code (use 0 for a "normal" exit).
	SIM_LRF_ENABLE = 230
	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_END = 232
	int Set angle (degrees from center) at which the simulated laser takes its last reading (normally 90).
	SIM_LRF_SET_FOV_START = 231
	int Set angle (degrees from center) at which the simulater laser takes its first reading (normally -90).
	SIM_LRF_SET_RES = 233
	int Set the number of degrees between laser readings (in combination with FOV, determines the number of readings per sweep) (normally 1)
	SIM_MESSAGE = 238
	string, Display a log message in the simulator. Argument is a length-prefixed ASCII byte string.
	SIM_RESET = 225
	none, Reset robot's state to original in simulator and reset odometry to 0,0,0.
	SIM_SET_POSE = 224
	int4,int4,int4 Move robot to global pose in simulator (does not change odometry). Each value is a 4-byte integer.
	SIM_STAT = 237
	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.
	SONAR = 28
	int, enable (1) or disable (0) sonar
	SOUND = 90
	int, AmigoBot (old H8 model) specific, plays sound with given number
	SOUNDTOG = 92
	int, AmigoBot (old H8 model) specific, enable(1) or diable(0) sound
	STEP = 64
	STOP = 29
	int, stops the robot
	TCM2 = 45
	TCM2 module commands, see tcm2 manual for details.
	TTY2 = 42
	string, send string argument to serial dev connected to aux1
	TTY3 = 66
	VEL = 11
	int, set the translational velocity (mm/sec)
	VEL2 = 32

Member Enumeration Documentation

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
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).

ArCommands Class Reference

Detailed Description

Public Types

Member Enumeration Documentation