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8. Appendix B
Pioneer Server Information
Packet
Name Data Type Description
Header
int Exactly 0xFA, 0xFB
Byte Count
byte Number of data bytes + 2; must be less than 201
(0xC9)
Status
byte = 0x3S; where S = Motors status
sfSTATUSNOPOWER
Motors power off
sfSTATUSSTOPPED
Motors stopped
sfSTATUSMOVING
Robot moving
Xpos
unsigned int (15 ls-bits) Wheel-encoder integrated coordinates; platform-
dependent units—multiply by
Ypos
unsigned int (15 ls-bits)
DistConvFactor
in the parameter file to convert to
mm; roll-over ~ 3 m
Th pos
signed int Orientation in platform-dependent units—multiply
by
AngleConvFactor
for radians
L vel
signed int Wheel velocities (respective Left and Right) in
platform-dependent units—
R vel
signed int multiply by
VelConvFactor
to convert to mm/sec.
Battery
byte Battery charge in tenths of volts
Bumpers
2 bytes - L and R Motor stall indicators
Bumpers
unsigned int
Control
signed int Setpoint of the server’s angular position servo—
multiply by
AngleConvFactor
for radians
PTU
unsigned int Pulse width of position servo
Say
byte verbal/sound clues
Sonar
readings
byte Number of new sonar readings included in
information packet; readings follow:
Sonar num
byte Sonar number
Sonar range
unsigned int Sonar reading—multiply by
RangeConvFactor
for
mm
Input timer
unsigned int User input timer reading
User Analog
byte User analog input reading
User Input
byte User digital input pins
User Output
byte User digital output pins
Checksum
int Checksum (see previous section)