Pioneer 2 - Manual (Page 47)

Pioneer Mobile Robots
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Colbert move command or other “goto position” client command (robot accelerates to that TransVelMax
and runs at that velocity until it nears and then reaches its destination).
When it starts properly, p2oscf retrieves from the microcontroller the current identifying and operating
parameters that P2OS uses for your Pioneer 2. Some of the parameters, "Constants" in Table 7-1, currently
cannot be changed. The others, "Variables" in Table 7-1, are the identifying and operating parameters that
you may edit with p2oscf.
The list of p2oscf commands is in the Table 7-1. The list of P2OS parameters with descriptions and default
values is in the Table 7-2. With p2oscf, you edit a temporary copy of the parameters list. Your changes are
not written to the flash ROM until you choose to explicitly "save" them. Even then, p2oscf will write to
flash ROM only if you have changed some variable parameter. Writes to the flash ROM are guaranteed for
only 100 cycles, so we caution that you reconfigure/update Pioneer 2 only when necessary.
Editing P2OS Parameters
To view the list of current P2OS constants or variables, type 'c' or 'v', respectively, followed by a return
(Enter). Similarly, type '?' or 'help' to see a list of p2oscf commands.
To see a parameter's current value individually, type its keyword alone. To change a P2OS variable
parameter's value, type its keyword followed by the replacement value. That value may be a string (no
quotes) or a decimal or hexadecimal ("0xN") number. For example, to change the watchdog timeout to
last for four seconds, type:
> watchdog 4000
or:
> watchdog 0xfa0
The critical operating parameters for Pioneer 2 are revcount , and the PID control parameters. If you get
them wrong, your robot won’t run properly. Note, too, that your p2oscf-edited parameters are not used by
P2OS unless and until you 'save' them to the flash ROM. And, too, you may over-ride many of these
parameters with respective P2OS commands from the client.
Table 7-2. p2oscf control commands
Command Description
keyword <value> Alone, keyword displays current, edited value. Add value
argument to change current value.
c or constants Display P2OS constant values. User cannot change.
v or variables Display current, edited P2OS operational values; may be
different than values currently stored in flash ROM.
r or restore
<pathname>
Restores edited (p2oscf) variables to values currently stored in
flash ROM or from file, if argument included.
save <pathname> Saves current edited values to flash ROM and exits program
OR saves current edited values to disk for later reference and
continues in editor.
q or quit Exits p2oscf without saving any changes to flash.
? or help Displays commands and descriptions.