ANNEXE 2 : Tableau des commandes implémentées dans
MobileSim 0.2
SONAR
CONFIG
STOP
VEL
ROTATE
RVEL
VEL2
HEAD
SETO
DHEAD
SETV
SETRV
SETA
SETRA
MOVE
NAME
PULSE
OPEN
CLOSE
ENABLE
CMD# ARG DESCRIPTION
5
23
8
2
4
0
1
12
7
13
6
10 no-op int start up standard devices and send SIP packets int stop standard devices uint enable (1) or disable (0) motors (note: however that motors can never be disabled in Stage, you can always drive)
28
18
29
11 uint disable (0) or re-enable (1) sonar request a configuration packet int stops the robot from moving int set the translational velocity (mm/sec)
9
21 int set rotational velocity, duplicate of RVEL (deg/sec)
int set rotational velocity, duplicate of ROTATE (deg/sec)
32 2bytes independent wheel velocities, first byte (signed) is right, second=left uint turn to absolute heading 0-359 (degrees) none resets robots odometry back to 0, 0, 0 int turn relative to current heading (degrees) int sets maximum velocity and MOVE velocity (mm/sec) int sets the maximum rotational and HEAD velocity
(deg/sec) int sets translational accelleration (mm/sec/sec) int sets rotational accel(+) or decel(-) (deg/sec) int translational move (mm)
