AmigoBot Mobile Robots
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CHAPTER 5 AMIGOBOT OPERATING SYSTEM................................. 21
Communication Packet Protocol.................................................................... 21
Packet Data Types .......................................................................................................................... 22
Packet Checksum............................................................................................................................ 22
Packet Errors.................................................................................................................................. 23
Server Information Packets................................................................................ 23
Client Commands................................................................................................ 24
Client Command Argument Types ................................................................................................... 26
Saphira Client Command Support................................................................................................... 26
Programming AmigOS........................................................................................ 27
Synchronization—SYNC.................................................................................................................. 27
Autoconfiguration........................................................................................................................... 27
Opening the Servers—OPEN ........................................................................................................... 27
Keeping the Beat—PULSE.............................................................................................................. 27
Closing the Connection—CLOSE .................................................................................................... 28
Movement Commands...................................................................................... 28
AmigoBot in Motion............................................................................................. 28
Position Integration........................................................................................................................ 29
Sonars ..................................................................................................................... 29
Input / Output (I/O)............................................................................................. 29
ADSEL ........................................................................................................................................... 30
Sounds............................................................................................................................................ 30
Extended Server Information Packets............................................................. 30
Packet Processing........................................................................................................................... 30
Configuration Packets..................................................................................................................... 30
Encoder Packets ............................................................................................................................. 30
AUX Serial Packets......................................................................................................................... 31
Sound Playlist................................................................................................................................. 31
CHAPTER 6 UPDATING & RECONFIGURING AMIGOS ................... 33
Where to Get AmigOS Software ...................................................................... 33
Installing the AmigOS Utilities............................................................................. 33
System Mode and Serial Port ............................................................................ 33
Updating AmigOS and Sounds with Amigosdl.................................................................................. 34
Configuring AmigOS Operating Parameters................................................. 34
Amigoscf Editor Commands............................................................................................................ 35
CHAPTER 7 MAINTENANCE & REPAIR............................................. 38
Drive Lubrication.................................................................................................. 38
AmigoBot Batteries.............................................................................................. 38
Charging the Battery....................................................................................................................... 38
Alternative Battery Chargers........................................................................................................... 38
Getting Inside........................................................................................................ 39
Factory Repairs..................................................................................................... 39
APPENDIX A...................................................................................... 40
System and Control Serial Ports ........................................................................ 40
Internal Serial Connector................................................................................... 40
Auxiliary Power ..................................................................................................... 41
Motors and Power ............................................................................................... 41
Accessory I/O Expansion Port ........................................................................... 41
