Pioneer 2 / PeopleBot Manuel d'utilisateur télécharger pdf (Page 51)

ActivMedia Robotics

a byte value for the selected analog port, analog values in the IOpac are integers, with

resolution to 12 bits. If either bumper is not installed, its reported value can vary.

Table 11. IOpac packet contents

Header integer Exactly 0xFA, 0xFB

Count byte Number of data bytes + 2

Type byte Packet type = 0xF0

byte Number of digtal input bytes

Digin N

bytes Digital input bytes

byte Number of digital output bytes

Digout N

bytes Digital output bytes

byte Number of A/D values

A/D N

ints A/D values 1-Na; 0-2047 (12-bit

resolution) = 0-5 VDC

Checksum inte

er Com

uted checksum

Pioneer 2 Arm-related SIPs and Commands

Please consult the Pioneer 2 Arm Manual for details.

Performance PeopleBot IRs

Two breakbeam IR sensors sense objects which intrude into the Performance PeopleBot’s

profile, but which may not be otherwise detected by its sonar or tabletop IR sensors. The

left and right IR breakbeams are connected to the User I/O digital input ports ID2 and

ID3, respectively. Normally high (1), the respective input port goes low (0) when an

object breaks the IR transmitter’s beam to its companion receiver.

The left and right tabletop IR detectors on the Performance PeopleBot are connected to

the ID0 and ID1 digital input ports of the User I/O, respectively. Normally high (1), the

digital input port goes low (0) when its respective tabletop IR sensor detects an object

within its range of operation.

The tabletop and breakbeam IR sensor states appear in the standard P2OS Server

Information Packet. Accordingly, to react to the state of an breakbeam or tabletop IR

sensor in a Saphira client, for example, test the state of its respective bit:

#define LFT_TTIR 0x01

#define RGT_TTIR 0x02

#define LFT_BREAKBEAM 0x04

#define RGT_BREAKBEAM 0x08

if (sfRobot.digin & LFT_BREAKBEAM = = 0)

/* Something has triggered the left column breakbeam … */

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Pioneer 2 / PeopleBot Manuel d'utilisateur Page 51