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ActivMedia Robotics
Table 17. AROS FLASH configuration parameters with values for Pioneer 3–DX
KEYWORD
Type Default Description
CONSTANTS
Should not be changed
PTYPE
str Pioneer Identifies the robot type.
PSTYPE
str P3DX Identifies the ActivMedia robot model.
SERNUM
str factory Serial number for the robot.
VERNO
str 1.x AROS version number
TOPRV
int 360 Maximum rotational velocity; deg/sec
TOPTV
int 2200 Maximum translation speed; mm/sec
TOPRA
int 600 Maximum rotation (de)acceleration; deg/sec
2
TOPTA
int 4000 Maximum translational (de)acceleration; mm/sec
2
TICKSMM
int 132 Encoder ticks/mm: (ticks per rev x gear-ratio)
(wheel_diameter x PI)
BATTCONV
byte 0 0 if a 12V system; 1 if 24V
VARIABLES
Parameters that you may change
NAME
str not_set Unique name for your robot.
Maximum of 20 characters, no spaces.
SIP
byte 100 Server information packet cycle time in 1 ms
increments. Default is classic 100 ms.
PWMMAX
int 400 Maximum motor PWM (500=fully on).
HOSTBAUD
byte 0 Baud rate for client-server HOST serial:
0=9.6k, 1=19.2k, 2=38.4k, 3=56.8k, 4=115.2k.
AUXBAUD1
byte 0 Baud rate for AUX serial port 1; see HostBaud
AUXBAUD2
byte 0 Baud rate for AUX serial port 2; see HostBaud
SONARCYCLE
byte 40 Sonar cycle time in milliseconds
SONAR1
str 12345678 Ping sequence for sonar array #1. Up to 16
number characters 1-8; 0 to disable the array
SONAR2
str 0 Ping sequence for array #2. See sonar1 above
SONAR3
str 0 Ping sequence for array #3. See sonar1 above
SONAR4
str 0 Ping sequence for array #4. See sonar1 above
LOWBATTERY
int 110 In 1/10 volts; microcontroller alarm activated
when battery charge falls below this value.
WATCHDOG
int 2000 Ms time before robot automatically stops if it
has not received a command from a client.
Restarts on restoration of connection.
REVCOUNT
int 36300 The number of differential encoder ticks for a
360 degree revolution of the robot.
SOUNDTOG
byte 1 0 disables the buzzer
P2MPACS
byte 0 1 enables alternative SIP.
STALLVAL
int 200 Maximum PWM before stall. If > PwmMax, never.
STALLCOUNT
int 100 Ms time after a stall for recovery. Motors not
engaged during this time.
HASGYRO
byte 0 Set to 1 if you have the gyro accessory
CHARGER
byte 0 Set to 1 if P3 or 2 if PowerBot autocharger
mechanism and circuitry installed; otherwise 0
GRIPPER
byte 0 Set to 1 if P2/P3 Gripper; 2 if Gripper on
Performance PeopleBot
TCM2
byte 0 TCM2 module connected to 1=AUX1 or 2=AUX2
LEDGESENSE
byte 0 0=none; 1=stop on detect; 2=limit speed; 3=stop
and limit speed
BUMPSTALL
byte 3 0=disable bump stall; 1=enable rear; 2=enable
front; 3=enable both front and rear bump stalls
INVERTBUMP
byte 0 0=none; 1=front; 2=rear; or 3=invert both front
and rear bumper signals
FRONTBUMPS
byte 0 Number of front bumper segments
REARBUMPS
byte 0 Number of rear bumper segments
ROTVELMAX
int 200 Max rotational speed; deg/sec.
TRANSVELMAX
int 2000 Max translational speed; mm/sec.
ROTACC
int 100 Rotational acceleration; deg/sec
2
ROTDECEL
int 100 Rotational deceleration; deg/sec
2
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