| 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 |
2bytes, independent wheel velocities, first byte = right, second = left |
| 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 p2 tcm2 manual for details. |
| JOYDRIVE |
Command to tell p2os to drive with the joystick plugged into the robot |
| MOVINGBLINK |
int, 1 to blink 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 |
string, Sim Specific, causes the sim to load the given param file |
| ENDSIM |
none, Sim Specific, causes the simulator to close and exit |
| LOADWORLD |
string, Sim Specific, causes the sim to load given world |
| STEP |
none, Sim Specific, single step mode |
| CALCOMP |
int, commands for calibrating compass, see compass manual |
| SETSIMORIGINX |
int, sets the X origin in the simulator |
| SETSIMORIGINY |
int, sets the Y origin in the simulator |
| SETSIMORIGINTH |
int, sets the heading at origin in the simulator |
| RESETSIMTOORIGIN |
int, resets the sim robots poseiton to origin |
| SOUND |
int, AmigoBot specific, plays sound with given number |
| PLAYLIST |
int, AmigoBot specific, requests name of sound, 0 for all, otherwise for specific sound |
| SOUNDTOG |
int, AmigoBot specific, enable(1) or diable(0) sound |
