Filter
Top Products
ActivMedia Robotics
Table 15. Configuration parameters (currently P2OS 1_J) with values for Pioneer 2-DX
KEYWORD
Type Default Description
CONSTANTS
Should not be changed using p2oscf
Type
str Pioneer Identifies the robot type.
Subtype
str P2DX Identifies the ActivMedia robot model.
Serial
str factory Serial number for the robot.
FourMotors
byte 0 Is '1' for the four-motor Pioneer 2-AT
RotVelTop
int 360 Maximum rotational velocity; deg/sec
TransVelTop
int 2200 Maximum translation speed; mm/sec
RotAccTop
int 600 Maximum rotation (de)acceleration; deg/sec
2
TransAccTop
int 4000 Maximum translational (de)acceleration; mm/sec
2
PwmMax
int 500 Maximum motor PWM period (500=fully on).
Encoder
int 76 Encoder ticks/mm: (ticks/rev x gear-ratio)
(wheel_diameter x PI)
VARIABLES
Parameters that you may change with p2oscf
Name
str not_set Unique name for your robot.
Maximum of 20 characters, no spaces.
SInfoCycle
byte 0 Server information packet communication cycle
time: 0=classic 100 ms; 1=new 50 ms cycle time
HostBaud
byte 0 Baud rate for host (client) serial port
connection: 0=9600, 1=19200, 2=38400 bps.
AuxBaud
byte 2 Baud rate for AUX serial port; see HostBaud
HasGripper
int 0 1 if P2 Gripper installed into User I/O; 2 if
installed in General I/O; otherwise 0
FrontSonar
int 1 1 if front sonar array installed; otherwise 0
RearSonar
byte 0 1 if rear sonar array installed; otherwise 0
LowBattery
int 110 In 1/10 volts; microcontroller alarm activated
when battery charge falls below this value.
RevCount
int 20000 The number of differential encoder ticks for a
360 degree revolution of the robot.
WatchDog
int 2000 Ms time before robot automatically stops if it
has not received a command from a client.
Restarts on restoration of connection.
P2Mpacs
byte 0 1 enables alternative SIP. Otherwise 0.
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.
Compass
Int 0 Compass type: 0=none; 1=V2XG; 2=TCM2
CompX
int 0 V2XG Compass calibration X-offset
CompY
int 0 V2XG Compass calibration Y-offset
RotVelMax
int 200 Max rotational speed; deg/sec.
TransVelMax
int 300 Max translational speed; mm/sec.
RotAcc
int 50 Rotational acceleration; deg/sec
2
RotDecel
int 50 Rotational deceleration; deg/sec
2
RotKp
int 30 Proportional PID for rotation
RotKv
int 200 Differential PID for rotation
RotKi
int 0 Integral PID for rotation
TransAcc
int 300 Translational acceleration; mm/sec
2
TransDecel
int 300 Translational deceleration; mm/sec
2
TransKp
int 15 Proportional PID for translation
TransKv
int 800 Differential PID for translation
TransKi
int 4 Integral PID for translation
JoyVelMax
int 600 Joydrive maximum translation velocity
JoyRVelMax
int 125 Joydrive maximum rotational velocity
51