;SectionFlags for : ; Robot parameter file Section General settings ;SectionFlags for General settings: Class Pioneer ; general type of robot Subclass p2df ; specific type of robot RobotRadius 250 ; radius in mm RobotDiagonal 120 ; half-height to diagonal of octagon RobotWidth 425 ; width in mm RobotLength 511 ; length in mm of the whole robot RobotLengthFront 210 ; length in mm to the front of the robot (if this is 0 ; (or non existant) this value will be set to half of ; RobotLength) RobotLengthRear 301 ; length in mm to the rear of the robot (if this is 0 ; (or non existant) this value will be set to half of ; RobotLength) Holonomic true ; turns in own radius MaxRVelocity 500 ; absolute maximum degrees / sec MaxVelocity 2200 ; absolute maximum mm / sec MaxLatVelocity 0 ; absolute lateral maximum mm / sec HasMoveCommand true ; has built in move command RequestIOPackets false ; automatically request IO packets RequestEncoderPackets false ; automatically request encoder packets SwitchToBaudRate 38400 ; switch to this baud if non-0 and supported on robot Section Conversion factors ;SectionFlags for Conversion factors: AngleConvFactor 0.001534 ; radians per angular unit (2PI/4096) DistConvFactor 0.485 ; multiplier to mm from robot units VelConvFactor 1 ; multiplier to mm/sec from robot units RangeConvFactor 0.268 ; multiplier to mm from sonar units DiffConvFactor 0.006 ; ratio of angular velocity to wheel velocity (unused ; in newer firmware that calculates and returns this) Vel2Divisor 20 ; divisor for VEL2 commands GyroScaler 1.626 ; Scaling factor for gyro readings Section Accessories the robot has ;SectionFlags for Accessories the robot has: TableSensingIR false ; if robot has upwards facing table sensing IR NewTableSensingIR false ; if table sensing IR are sent in IO packet FrontBumpers false ; if robot has a front bump ring NumFrontBumpers 5 ; number of front bumpers on the robot RearBumpers false ; if the robot has a rear bump ring NumRearBumpers 5 ; number of rear bumpers on the robot Section Sonar parameters ;SectionFlags for Sonar parameters: SonarNum 16 ; number of sonar on the robot ; SonarUnit SonarUnit 0 69 136 90 SonarUnit 1 114 119 50 SonarUnit 2 148 78 30 SonarUnit 3 166 27 10 SonarUnit 4 166 -27 -10 SonarUnit 5 148 -78 -30 SonarUnit 6 114 -119 -50 SonarUnit 7 69 -136 -90 SonarUnit 8 -157 -136 -90 SonarUnit 9 -203 -119 -130 SonarUnit 10 -237 -78 -150 SonarUnit 11 -255 -27 -170 SonarUnit 12 -255 27 170 SonarUnit 13 -237 78 150 SonarUnit 14 -203 119 130 SonarUnit 15 -157 136 90 Section IR parameters ;SectionFlags for IR parameters: IRNum 0 ; number of IRs on the robot ; IRUnit Section Movement control parameters ; if these are 0 the parameters from robot flash will be used, otherwise these ; values will be used ;SectionFlags for Movement control parameters: SettableVelMaxes true ; if TransVelMax and RotVelMax can be set TransVelMax 0 ; maximum desired translational velocity for the robot RotVelMax 0 ; maximum desired rotational velocity for the robot SettableAccsDecs true ; if the accel and decel parameters can be set TransAccel 0 ; translational acceleration TransDecel 0 ; translational deceleration RotAccel 0 ; rotational acceleration RotDecel 0 ; rotational deceleration HasLatVel false ; if the robot has lateral velocity LatVelMax 0 ; maximum desired lateral velocity for the robot LatAccel 0 ; lateral acceleration LatDecel 0 ; lateral deceleration Section GPS parameters ;SectionFlags for GPS parameters: GPSPX 0 ; x location of gps receiver antenna on robot, mm GPSPY 0 ; y location of gps receiver antenna on robot, mm GPSType standard ; type of gps receiver (trimble, novatel, standard) GPSPort COM2 ; port the gps is on GPSBaud 9600 ; gps baud rate (9600, 19200, 38400, etc.) Section Compass parameters ;SectionFlags for Compass parameters: CompassType robot ; type of compass: robot (typical configuration), or ; serialTCM (computer serial port) CompassPort ; serial port name, if CompassType is serialTCM Section Laser parameters ;SectionFlags for Laser parameters: LaserType lms2xx ; type of laser LaserPortType serial ; type of port the laser is on LaserPort COM3 ; port the laser is on LaserAutoConnect false ; if the laser connector should autoconnect this laser ; or not LaserFlipped false ; if the laser is upside-down or not LaserPowerControlled true ; if the power to the laser is controlled by serial LaserMaxRange 0 ; Max range to use for the laser, 0 to use default ; (only use if you want to shorten it from the ; default), mm LaserCumulativeBufferSize 0 ; Cumulative buffer size to use for the laser, 0 to ; use default LaserX 17 ; x location of laser, mm LaserY 8 ; y location of laser, mm LaserTh 0 ; rotation of laser, deg LaserZ 0 ; height of the laser off the ground, mm (0 means ; unknown) LaserIgnore ; Readings within a degree of the listed degrees ; (separated by a space) will be ignored LaserStartDegrees ; start degrees for the sensor (leave blank for ; default, use this to constrain the range) (double) LaserEndDegrees ; start degrees for the sensor (leave blank for ; default, use this to constrain the range) (double) LaserDegreesChoice ; degrees choice for the sensor (leave blank for ; default, use this to constrain the range) LaserIncrement ; Increment for the sensor (leave blank for default, ; use this to have a custom increment) (double) LaserIncrementChoice ; Increment for the sensor (leave blank for default, ; use this to have a larger increment) LaserUnitsChoice ; Units for the sensor (leave blank for default, use ; this to have a larger units) LaserReflectorBitsChoice ; ReflectorBits for the sensor (leave blank for ; default, use this to have a larger units) LaserStartingBaudChoice ; StartingBaud for the sensor (leave blank for ; default, use this to have a larger StartingBaud) LaserAutoBaudChoice ; AutoBaud for the sensor (leave blank for default, ; use this to have a larger units) Section Laser 2 parameters ;SectionFlags for Laser 2 parameters: LaserType ; type of laser LaserPortType ; type of port the laser is on LaserPort ; port the laser is on LaserAutoConnect false ; if the laser connector should autoconnect this laser ; or not LaserFlipped false ; if the laser is upside-down or not LaserPowerControlled true ; if the power to the laser is controlled by serial LaserMaxRange 0 ; Max range to use for the laser, 0 to use default ; (only use if you want to shorten it from the ; default), mm LaserCumulativeBufferSize 0 ; Cumulative buffer size to use for the laser, 0 to ; use default LaserX 0 ; x location of laser, mm LaserY 0 ; y location of laser, mm LaserTh 0 ; rotation of laser, deg LaserZ 0 ; height of the laser off the ground, mm (0 means ; unknown) LaserIgnore ; Readings within a degree of the listed degrees ; (separated by a space) will be ignored LaserStartDegrees ; start degrees for the sensor (leave blank for ; default, use this to constrain the range) (double) LaserEndDegrees ; start degrees for the sensor (leave blank for ; default, use this to constrain the range) (double) LaserDegreesChoice ; degrees choice for the sensor (leave blank for ; default, use this to constrain the range) LaserIncrement ; Increment for the sensor (leave blank for default, ; use this to have a custom increment) (double) LaserIncrementChoice ; Increment for the sensor (leave blank for default, ; use this to have a larger increment) LaserUnitsChoice ; Units for the sensor (leave blank for default, use ; this to have a larger units) LaserReflectorBitsChoice ; ReflectorBits for the sensor (leave blank for ; default, use this to have a larger units) LaserStartingBaudChoice ; StartingBaud for the sensor (leave blank for ; default, use this to have a larger StartingBaud) LaserAutoBaudChoice ; AutoBaud for the sensor (leave blank for default, ; use this to have a larger units) Section Laser 3 parameters ;SectionFlags for Laser 3 parameters: LaserType ; type of laser LaserPortType ; type of port the laser is on LaserPort ; port the laser is on LaserAutoConnect false ; if the laser connector should autoconnect this laser ; or not LaserFlipped false ; if the laser is upside-down or not LaserPowerControlled true ; if the power to the laser is controlled by serial LaserMaxRange 0 ; Max range to use for the laser, 0 to use default ; (only use if you want to shorten it from the ; default), mm LaserCumulativeBufferSize 0 ; Cumulative buffer size to use for the laser, 0 to ; use default LaserX 0 ; x location of laser, mm LaserY 0 ; y location of laser, mm LaserTh 0 ; rotation of laser, deg LaserZ 0 ; height of the laser off the ground, mm (0 means ; unknown) LaserIgnore ; Readings within a degree of the listed degrees ; (separated by a space) will be ignored LaserStartDegrees ; start degrees for the sensor (leave blank for ; default, use this to constrain the range) (double) LaserEndDegrees ; start degrees for the sensor (leave blank for ; default, use this to constrain the range) (double) LaserDegreesChoice ; degrees choice for the sensor (leave blank for ; default, use this to constrain the range) LaserIncrement ; Increment for the sensor (leave blank for default, ; use this to have a custom increment) (double) LaserIncrementChoice ; Increment for the sensor (leave blank for default, ; use this to have a larger increment) LaserUnitsChoice ; Units for the sensor (leave blank for default, use ; this to have a larger units) LaserReflectorBitsChoice ; ReflectorBits for the sensor (leave blank for ; default, use this to have a larger units) LaserStartingBaudChoice ; StartingBaud for the sensor (leave blank for ; default, use this to have a larger StartingBaud) LaserAutoBaudChoice ; AutoBaud for the sensor (leave blank for default, ; use this to have a larger units) Section Laser 4 parameters ;SectionFlags for Laser 4 parameters: LaserType ; type of laser LaserPortType ; type of port the laser is on LaserPort ; port the laser is on LaserAutoConnect false ; if the laser connector should autoconnect this laser ; or not LaserFlipped false ; if the laser is upside-down or not LaserPowerControlled true ; if the power to the laser is controlled by serial LaserMaxRange 0 ; Max range to use for the laser, 0 to use default ; (only use if you want to shorten it from the ; default), mm LaserCumulativeBufferSize 0 ; Cumulative buffer size to use for the laser, 0 to ; use default LaserX 0 ; x location of laser, mm LaserY 0 ; y location of laser, mm LaserTh 0 ; rotation of laser, deg LaserZ 0 ; height of the laser off the ground, mm (0 means ; unknown) LaserIgnore ; Readings within a degree of the listed degrees ; (separated by a space) will be ignored LaserStartDegrees ; start degrees for the sensor (leave blank for ; default, use this to constrain the range) (double) LaserEndDegrees ; start degrees for the sensor (leave blank for ; default, use this to constrain the range) (double) LaserDegreesChoice ; degrees choice for the sensor (leave blank for ; default, use this to constrain the range) LaserIncrement ; Increment for the sensor (leave blank for default, ; use this to have a custom increment) (double) LaserIncrementChoice ; Increment for the sensor (leave blank for default, ; use this to have a larger increment) LaserUnitsChoice ; Units for the sensor (leave blank for default, use ; this to have a larger units) LaserReflectorBitsChoice ; ReflectorBits for the sensor (leave blank for ; default, use this to have a larger units) LaserStartingBaudChoice ; StartingBaud for the sensor (leave blank for ; default, use this to have a larger StartingBaud) LaserAutoBaudChoice ; AutoBaud for the sensor (leave blank for default, ; use this to have a larger units) Section Laser 5 parameters ;SectionFlags for Laser 5 parameters: LaserType ; type of laser LaserPortType ; type of port the laser is on LaserPort ; port the laser is on LaserAutoConnect false ; if the laser connector should autoconnect this laser ; or not LaserFlipped false ; if the laser is upside-down or not LaserPowerControlled true ; if the power to the laser is controlled by serial LaserMaxRange 0 ; Max range to use for the laser, 0 to use default ; (only use if you want to shorten it from the ; default), mm LaserCumulativeBufferSize 0 ; Cumulative buffer size to use for the laser, 0 to ; use default LaserX 0 ; x location of laser, mm LaserY 0 ; y location of laser, mm LaserTh 0 ; rotation of laser, deg LaserZ 0 ; height of the laser off the ground, mm (0 means ; unknown) LaserIgnore ; Readings within a degree of the listed degrees ; (separated by a space) will be ignored LaserStartDegrees ; start degrees for the sensor (leave blank for ; default, use this to constrain the range) (double) LaserEndDegrees ; start degrees for the sensor (leave blank for ; default, use this to constrain the range) (double) LaserDegreesChoice ; degrees choice for the sensor (leave blank for ; default, use this to constrain the range) LaserIncrement ; Increment for the sensor (leave blank for default, ; use this to have a custom increment) (double) LaserIncrementChoice ; Increment for the sensor (leave blank for default, ; use this to have a larger increment) LaserUnitsChoice ; Units for the sensor (leave blank for default, use ; this to have a larger units) LaserReflectorBitsChoice ; ReflectorBits for the sensor (leave blank for ; default, use this to have a larger units) LaserStartingBaudChoice ; StartingBaud for the sensor (leave blank for ; default, use this to have a larger StartingBaud) LaserAutoBaudChoice ; AutoBaud for the sensor (leave blank for default, ; use this to have a larger units) Section Laser 6 parameters ;SectionFlags for Laser 6 parameters: LaserType ; type of laser LaserPortType ; type of port the laser is on LaserPort ; port the laser is on LaserAutoConnect false ; if the laser connector should autoconnect this laser ; or not LaserFlipped false ; if the laser is upside-down or not LaserPowerControlled true ; if the power to the laser is controlled by serial LaserMaxRange 0 ; Max range to use for the laser, 0 to use default ; (only use if you want to shorten it from the ; default), mm LaserCumulativeBufferSize 0 ; Cumulative buffer size to use for the laser, 0 to ; use default LaserX 0 ; x location of laser, mm LaserY 0 ; y location of laser, mm LaserTh 0 ; rotation of laser, deg LaserZ 0 ; height of the laser off the ground, mm (0 means ; unknown) LaserIgnore ; Readings within a degree of the listed degrees ; (separated by a space) will be ignored LaserStartDegrees ; start degrees for the sensor (leave blank for ; default, use this to constrain the range) (double) LaserEndDegrees ; start degrees for the sensor (leave blank for ; default, use this to constrain the range) (double) LaserDegreesChoice ; degrees choice for the sensor (leave blank for ; default, use this to constrain the range) LaserIncrement ; Increment for the sensor (leave blank for default, ; use this to have a custom increment) (double) LaserIncrementChoice ; Increment for the sensor (leave blank for default, ; use this to have a larger increment) LaserUnitsChoice ; Units for the sensor (leave blank for default, use ; this to have a larger units) LaserReflectorBitsChoice ; ReflectorBits for the sensor (leave blank for ; default, use this to have a larger units) LaserStartingBaudChoice ; StartingBaud for the sensor (leave blank for ; default, use this to have a larger StartingBaud) LaserAutoBaudChoice ; AutoBaud for the sensor (leave blank for default, ; use this to have a larger units) Section Laser 7 parameters ;SectionFlags for Laser 7 parameters: LaserType ; type of laser LaserPortType ; type of port the laser is on LaserPort ; port the laser is on LaserAutoConnect false ; if the laser connector should autoconnect this laser ; or not LaserFlipped false ; if the laser is upside-down or not LaserPowerControlled true ; if the power to the laser is controlled by serial LaserMaxRange 0 ; Max range to use for the laser, 0 to use default ; (only use if you want to shorten it from the ; default), mm LaserCumulativeBufferSize 0 ; Cumulative buffer size to use for the laser, 0 to ; use default LaserX 0 ; x location of laser, mm LaserY 0 ; y location of laser, mm LaserTh 0 ; rotation of laser, deg LaserZ 0 ; height of the laser off the ground, mm (0 means ; unknown) LaserIgnore ; Readings within a degree of the listed degrees ; (separated by a space) will be ignored LaserStartDegrees ; start degrees for the sensor (leave blank for ; default, use this to constrain the range) (double) LaserEndDegrees ; start degrees for the sensor (leave blank for ; default, use this to constrain the range) (double) LaserDegreesChoice ; degrees choice for the sensor (leave blank for ; default, use this to constrain the range) LaserIncrement ; Increment for the sensor (leave blank for default, ; use this to have a custom increment) (double) LaserIncrementChoice ; Increment for the sensor (leave blank for default, ; use this to have a larger increment) LaserUnitsChoice ; Units for the sensor (leave blank for default, use ; this to have a larger units) LaserReflectorBitsChoice ; ReflectorBits for the sensor (leave blank for ; default, use this to have a larger units) LaserStartingBaudChoice ; StartingBaud for the sensor (leave blank for ; default, use this to have a larger StartingBaud) LaserAutoBaudChoice ; AutoBaud for the sensor (leave blank for default, ; use this to have a larger units) Section Laser 8 parameters ;SectionFlags for Laser 8 parameters: LaserType ; type of laser LaserPortType ; type of port the laser is on LaserPort ; port the laser is on LaserAutoConnect false ; if the laser connector should autoconnect this laser ; or not LaserFlipped false ; if the laser is upside-down or not LaserPowerControlled true ; if the power to the laser is controlled by serial LaserMaxRange 0 ; Max range to use for the laser, 0 to use default ; (only use if you want to shorten it from the ; default), mm LaserCumulativeBufferSize 0 ; Cumulative buffer size to use for the laser, 0 to ; use default LaserX 0 ; x location of laser, mm LaserY 0 ; y location of laser, mm LaserTh 0 ; rotation of laser, deg LaserZ 0 ; height of the laser off the ground, mm (0 means ; unknown) LaserIgnore ; Readings within a degree of the listed degrees ; (separated by a space) will be ignored LaserStartDegrees ; start degrees for the sensor (leave blank for ; default, use this to constrain the range) (double) LaserEndDegrees ; start degrees for the sensor (leave blank for ; default, use this to constrain the range) (double) LaserDegreesChoice ; degrees choice for the sensor (leave blank for ; default, use this to constrain the range) LaserIncrement ; Increment for the sensor (leave blank for default, ; use this to have a custom increment) (double) LaserIncrementChoice ; Increment for the sensor (leave blank for default, ; use this to have a larger increment) LaserUnitsChoice ; Units for the sensor (leave blank for default, use ; this to have a larger units) LaserReflectorBitsChoice ; ReflectorBits for the sensor (leave blank for ; default, use this to have a larger units) LaserStartingBaudChoice ; StartingBaud for the sensor (leave blank for ; default, use this to have a larger StartingBaud) LaserAutoBaudChoice ; AutoBaud for the sensor (leave blank for default, ; use this to have a larger units) Section Laser 9 parameters ;SectionFlags for Laser 9 parameters: LaserType ; type of laser LaserPortType ; type of port the laser is on LaserPort ; port the laser is on LaserAutoConnect false ; if the laser connector should autoconnect this laser ; or not LaserFlipped false ; if the laser is upside-down or not LaserPowerControlled true ; if the power to the laser is controlled by serial LaserMaxRange 0 ; Max range to use for the laser, 0 to use default ; (only use if you want to shorten it from the ; default), mm LaserCumulativeBufferSize 0 ; Cumulative buffer size to use for the laser, 0 to ; use default LaserX 0 ; x location of laser, mm LaserY 0 ; y location of laser, mm LaserTh 0 ; rotation of laser, deg LaserZ 0 ; height of the laser off the ground, mm (0 means ; unknown) LaserIgnore ; Readings within a degree of the listed degrees ; (separated by a space) will be ignored LaserStartDegrees ; start degrees for the sensor (leave blank for ; default, use this to constrain the range) (double) LaserEndDegrees ; start degrees for the sensor (leave blank for ; default, use this to constrain the range) (double) LaserDegreesChoice ; degrees choice for the sensor (leave blank for ; default, use this to constrain the range) LaserIncrement ; Increment for the sensor (leave blank for default, ; use this to have a custom increment) (double) LaserIncrementChoice ; Increment for the sensor (leave blank for default, ; use this to have a larger increment) LaserUnitsChoice ; Units for the sensor (leave blank for default, use ; this to have a larger units) LaserReflectorBitsChoice ; ReflectorBits for the sensor (leave blank for ; default, use this to have a larger units) LaserStartingBaudChoice ; StartingBaud for the sensor (leave blank for ; default, use this to have a larger StartingBaud) LaserAutoBaudChoice ; AutoBaud for the sensor (leave blank for default, ; use this to have a larger units)