ConfigVersion 2.0 ;SectionFlags for : ; Robot parameter file Section General settings ;SectionFlags for General settings: Class Pioneer ; general type of robot Subclass p3at-sh-lms500 ; specific type of robot RobotRadius 500.00000 ; radius in mm RobotDiagonal 120.00000 ; half-height to diagonal of octagon RobotWidth 505.00000 ; width in mm RobotLength 626.00000 ; length in mm of the whole robot RobotLengthFront 313.00000 ; length in mm to the front of the robot (if this is ; 0 (or non existent) this value will be set to half ; of RobotLength) RobotLengthRear 313.00000 ; length in mm to the rear of the robot (if this is 0 ; (or non existent) this value will be set to half of ; RobotLength) Holonomic true ; turns in own radius MaxRVelocity 300 ; absolute maximum degrees / sec MaxVelocity 1200 ; absolute maximum mm / sec MaxLatVelocity 0 ; absolute lateral maximum mm / sec HasMoveCommand true ; has built in move command RequestIOPackets false ; automatically request IO packets RequestEncoderPackets false ; automatically request encoder packets SwitchToBaudRate 38400 ; switch to this baud if non-0 and supported on robot Section Conversion factors ;SectionFlags for Conversion factors: AngleConvFactor 0.00153 ; radians per angular unit (2PI/4096) DistConvFactor 1.00000 ; multiplier to mm from robot units VelConvFactor 1.00000 ; multiplier to mm/sec from robot units RangeConvFactor 1.00000 ; multiplier to mm from sonar units DiffConvFactor 0.00340 ; ratio of angular velocity to wheel velocity (unused ; in newer firmware that calculates and returns this) Vel2Divisor 20.00000 ; divisor for VEL2 commands GyroScaler 1.62600 ; Scaling factor for gyro readings Section Accessories the robot has ;SectionFlags for Accessories the robot has: TableSensingIR false ; if robot has upwards facing table sensing IR NewTableSensingIR false ; if table sensing IR are sent in IO packet FrontBumpers false ; if robot has a front bump ring NumFrontBumpers 5 ; number of front bumpers on the robot RearBumpers false ; if the robot has a rear bump ring NumRearBumpers 5 ; number of rear bumpers on the robot Section IR parameters ;SectionFlags for IR parameters: IRNum 0 ; number of IRs on the robot ; IRUnit Section Movement control parameters ; if these are 0 the parameters from robot flash will be used, otherwise these ; values will be used ;SectionFlags for Movement control parameters: SettableVelMaxes true ; if TransVelMax and RotVelMax can be set TransVelMax 0 ; maximum desired translational velocity for the robot RotVelMax 0 ; maximum desired rotational velocity for the robot SettableAccsDecs true ; if the accel and decel parameters can be set TransAccel 0 ; translational acceleration TransDecel 0 ; translational deceleration RotAccel 0 ; rotational acceleration RotDecel 0 ; rotational deceleration HasLatVel false ; if the robot has lateral velocity LatVelMax 0 ; maximum desired lateral velocity for the robot LatAccel 0 ; lateral acceleration LatDecel 0 ; lateral deceleration Section GPS parameters ;SectionFlags for GPS parameters: GPSPX -160 ; x location of gps receiver antenna on robot, mm GPSPY 120 ; y location of gps receiver antenna on robot, mm GPSType novatel ; type of gps receiver (trimble, novatel, standard) GPSPort COM2 ; port the gps is on GPSBaud 9600 ; gps baud rate (9600, 19200, 38400, etc.) Section Compass parameters ;SectionFlags for Compass parameters: CompassType robot ; type of compass: robot (typical configuration), or ; serialTCM (computer serial port) CompassPort ; serial port name, if CompassType is serialTCM Section Sonar parameters ;SectionFlags for Sonar parameters: SonarNum 16 ; Number of sonars on the robot. ; SonarUnit (for MTX sonar there is also ) SonarUnit 0 147 136 90 0 0 0 0 0 0 SonarUnit 1 193 119 50 0 0 0 0 0 0 SonarUnit 2 227 79 30 0 0 0 0 0 0 SonarUnit 3 245 27 10 0 0 0 0 0 0 SonarUnit 4 245 -27 -10 0 0 0 0 0 0 SonarUnit 5 227 -79 -30 0 0 0 0 0 0 SonarUnit 6 193 -119 -50 0 0 0 0 0 0 SonarUnit 7 147 -136 -90 0 0 0 0 0 0 SonarUnit 8 -144 -136 -90 0 0 0 0 0 0 SonarUnit 9 -189 -119 -130 0 0 0 0 0 0 SonarUnit 10 -223 -79 -150 0 0 0 0 0 0 SonarUnit 11 -241 -27 -170 0 0 0 0 0 0 SonarUnit 12 -241 27 170 0 0 0 0 0 0 SonarUnit 13 -223 79 150 0 0 0 0 0 0 SonarUnit 14 -189 119 130 0 0 0 0 0 0 SonarUnit 15 -144 136 90 0 0 0 0 0 0 Section SonarBoard_1 ; Information about the connection to this Sonar Board. ;SectionFlags for SonarBoard_1: SonarAutoConnect false ; SonarBoard_1 exists and should be automatically ; connected at startup. SonarBoardType ; Type of the sonar board. SonarBoardPortType ; Port type that the sonar is on. SonarBoardPort ; Port the sonar is on. SonarBoardPowerOutput ; Power output that controls this Sonar Board's power. SonarBaud 0 ; Baud rate for the sonar board communication. (9600, ; 19200, 38400, etc.). SonarDelay 2 ; range [0, 10], Sonar delay (in ms). SonarGain 10 ; range [0, 31], Default sonar gain for the board, ; range 0-31. SonarDetectionThreshold 25 ; range [0, 65535], Default sonar detection ; threshold for the board. SonarMaxRange 4335 ; range [0, 4335], Default maximum sonar range for ; the board. Section Laser parameters ; Information about the connection to this laser and its position on the ; vehicle. ;SectionFlags for Laser parameters: LaserAutoConnect false ; Laser_1 exists and should be automatically connected ; at startup. LaserX 125 ; Location (in mm) of the laser in X (+ front, - back) ; relative to the robot's idealized center of ; rotation. LaserY 0 ; Location (in mm) of the laser in Y (+ left, - right) ; relative to the robot's idealized center of ; rotation. LaserTh 0.00000 ; range [-180, 180], Rotation (in deg) of the laser ; (+ counterclockwise, - clockwise). LaserZ 0 ; minimum 0, Height (in mm) of the laser from the ; ground. 0 means unknown. LaserIgnore ; Angles (in deg) at which to ignore readings, +/1 one ; degree. Angles are entered as strings, separated by ; a space. LaserFlipped false ; Laser_1 is upside-down. LaserType lms5XX ; Type of laser. LaserPortType tcp ; Type of port the laser is on. LaserPort 192.168.0.1 ; Port the laser is on. LaserPowerOutput ; Power output that controls this laser's power. LaserStartingBaudChoice ; StartingBaud for this laser. Leave blank to use the ; default. LaserAutoBaudChoice ; AutoBaud for this laser. Leave blank to use the ; default. LaserPowerControlled true ; When enabled (true), this indicates that the power ; to the laser is controlled by the serial port line. LaserMaxRange 0 ; Maximum range (in mm) to use for the laser. This ; should be specified only when the range needs to be ; shortened. 0 to use the default range. LaserCumulativeBufferSize 0 ; Cumulative buffer size to use for the laser. 0 to ; use the default. LaserStartDegrees ; Start angle (in deg) for the laser. This may be used ; to constrain the angle. Fractional degrees are ; permitted. Leave blank to use the default. LaserEndDegrees ; End angle (in deg) for the laser. This may be used ; to constrain the angle. Fractional degreees are ; permitted. Leave blank to use the default. LaserDegreesChoice ; Degrees choice for the laser. This may be used to ; constrain the range. Leave blank to use the default. LaserIncrement ; Increment (in deg) for the laser. Fractional degrees ; are permitted. Leave blank to use the default. LaserIncrementChoice ; Increment choice for the laser. This may be used to ; increase the increment. Leave blank to use the ; default. LaserUnitsChoice ; Units for the laser. This may be used to increase ; the size of the units. Leave blank to use the ; default. LaserReflectorBitsChoice ; ReflectorBits for the laser. Leave blank to use the ; default. Section Laser 2 parameters ; Information about the connection to this laser and its position on the ; vehicle. ;SectionFlags for Laser 2 parameters: LaserAutoConnect false ; Laser_2 exists and should be automatically connected ; at startup. LaserX 0 ; Location (in mm) of the laser in X (+ front, - back) ; relative to the robot's idealized center of ; rotation. LaserY 0 ; Location (in mm) of the laser in Y (+ left, - right) ; relative to the robot's idealized center of ; rotation. LaserTh 0.00000 ; range [-180, 180], Rotation (in deg) of the laser ; (+ counterclockwise, - clockwise). LaserZ 0 ; minimum 0, Height (in mm) of the laser from the ; ground. 0 means unknown. LaserIgnore ; Angles (in deg) at which to ignore readings, +/1 one ; degree. Angles are entered as strings, separated by ; a space. LaserFlipped false ; Laser_2 is upside-down. LaserType ; Type of laser. LaserPortType ; Type of port the laser is on. LaserPort ; Port the laser is on. LaserPowerOutput ; Power output that controls this laser's power. LaserStartingBaudChoice ; StartingBaud for this laser. Leave blank to use the ; default. LaserAutoBaudChoice ; AutoBaud for this laser. Leave blank to use the ; default. LaserPowerControlled true ; When enabled (true), this indicates that the power ; to the laser is controlled by the serial port line. LaserMaxRange 0 ; Maximum range (in mm) to use for the laser. This ; should be specified only when the range needs to be ; shortened. 0 to use the default range. LaserCumulativeBufferSize 0 ; Cumulative buffer size to use for the laser. 0 to ; use the default. LaserStartDegrees ; Start angle (in deg) for the laser. This may be used ; to constrain the angle. Fractional degrees are ; permitted. Leave blank to use the default. LaserEndDegrees ; End angle (in deg) for the laser. This may be used ; to constrain the angle. Fractional degreees are ; permitted. Leave blank to use the default. LaserDegreesChoice ; Degrees choice for the laser. This may be used to ; constrain the range. Leave blank to use the default. LaserIncrement ; Increment (in deg) for the laser. Fractional degrees ; are permitted. Leave blank to use the default. LaserIncrementChoice ; Increment choice for the laser. This may be used to ; increase the increment. Leave blank to use the ; default. LaserUnitsChoice ; Units for the laser. This may be used to increase ; the size of the units. Leave blank to use the ; default. LaserReflectorBitsChoice ; ReflectorBits for the laser. Leave blank to use the ; default. Section Battery_1 ; Information about the connection to this battery. ;SectionFlags for Battery_1: BatteryAutoConnect false ; Battery_1 exists and should be automatically ; connected at startup. BatteryType ; Type of battery. BatteryPortType ; Port type that the battery is on. BatteryPort ; Port the battery is on. BatteryBaud 0 ; Baud rate to use for battery communication (9600, ; 19200, 38400, etc.). Section LCD_1 ; The physical definition of this LCD. ;SectionFlags for LCD_1: LCDAutoConnect false ; LCD_1 exists and should automatically be connected ; at startup. LCDDisconnectOnConnectFailure false ; The LCD is a key component and is ; required for operation. If this is enabled and there ; is a failure in the LCD communications, then the ; robot will restart. LCDType ; Type of LCD. LCDPortType ; Port type that the LCD is on. LCDPort ; Port that the LCD is on. LCDPowerOutput ; Power output that controls this LCD's power. LCDBaud 0 ; Baud rate for the LCD communication (9600, 19200, ; 38400, etc.). Section PTZ 1 parameters ; Information about the connection to a pan/tilt unit (PTU) or pan/tilt/zoom ; control (PTZ) of a camera ;SectionFlags for PTZ 1 parameters: PTZAutoConnect true ; If true, connect to this PTZ by default. PTZType vapix ; PTZ or PTU type PTZInverted false ; If unit is mounted inverted (upside-down) PTZSerialPort none ; serial port, or none if not using serial port ; communication PTZRobotAuxSerialPort -1 ; Pioneer aux. serial port, or -1 if not using aux. ; serial port for communication. PTZAddress 192.168.0.90 ; IP address or hostname, or none if not using network ; communication. PTZTCPPort 80 ; TCP Port to use for HTTP network connection Section PTZ 2 parameters ; Information about the connection to a pan/tilt unit (PTU) or pan/tilt/zoom ; control (PTZ) of a camera ;SectionFlags for PTZ 2 parameters: PTZAutoConnect false ; If true, connect to this PTZ by default. PTZType unknown ; PTZ or PTU type PTZInverted false ; If unit is mounted inverted (upside-down) PTZSerialPort none ; serial port, or none if not using serial port ; communication PTZRobotAuxSerialPort -1 ; Pioneer aux. serial port, or -1 if not using aux. ; serial port for communication. PTZAddress 192.168.0.90 ; IP address or hostname, or none if not using network ; communication. PTZTCPPort 80 ; TCP Port to use for HTTP network connection Section PTZ 3 parameters ; Information about the connection to a pan/tilt unit (PTU) or pan/tilt/zoom ; control (PTZ) of a camera ;SectionFlags for PTZ 3 parameters: PTZAutoConnect false ; If true, connect to this PTZ by default. PTZType unknown ; PTZ or PTU type PTZInverted false ; If unit is mounted inverted (upside-down) PTZSerialPort none ; serial port, or none if not using serial port ; communication PTZRobotAuxSerialPort -1 ; Pioneer aux. serial port, or -1 if not using aux. ; serial port for communication. PTZAddress 192.168.0.90 ; IP address or hostname, or none if not using network ; communication. PTZTCPPort 80 ; TCP Port to use for HTTP network connection Section PTZ 4 parameters ; Information about the connection to a pan/tilt unit (PTU) or pan/tilt/zoom ; control (PTZ) of a camera ;SectionFlags for PTZ 4 parameters: PTZAutoConnect false ; If true, connect to this PTZ by default. PTZType unknown ; PTZ or PTU type PTZInverted false ; If unit is mounted inverted (upside-down) PTZSerialPort none ; serial port, or none if not using serial port ; communication PTZRobotAuxSerialPort -1 ; Pioneer aux. serial port, or -1 if not using aux. ; serial port for communication. PTZAddress 192.168.0.90 ; IP address or hostname, or none if not using network ; communication. PTZTCPPort 80 ; TCP Port to use for HTTP network connection Section PTZ 5 parameters ; Information about the connection to a pan/tilt unit (PTU) or pan/tilt/zoom ; control (PTZ) of a camera ;SectionFlags for PTZ 5 parameters: PTZAutoConnect false ; If true, connect to this PTZ by default. PTZType unknown ; PTZ or PTU type PTZInverted false ; If unit is mounted inverted (upside-down) PTZSerialPort none ; serial port, or none if not using serial port ; communication PTZRobotAuxSerialPort -1 ; Pioneer aux. serial port, or -1 if not using aux. ; serial port for communication. PTZAddress 192.168.0.90 ; IP address or hostname, or none if not using network ; communication. PTZTCPPort 80 ; TCP Port to use for HTTP network connection Section PTZ 6 parameters ; Information about the connection to a pan/tilt unit (PTU) or pan/tilt/zoom ; control (PTZ) of a camera ;SectionFlags for PTZ 6 parameters: PTZAutoConnect false ; If true, connect to this PTZ by default. PTZType unknown ; PTZ or PTU type PTZInverted false ; If unit is mounted inverted (upside-down) PTZSerialPort none ; serial port, or none if not using serial port ; communication PTZRobotAuxSerialPort -1 ; Pioneer aux. serial port, or -1 if not using aux. ; serial port for communication. PTZAddress 192.168.0.90 ; IP address or hostname, or none if not using network ; communication. PTZTCPPort 80 ; TCP Port to use for HTTP network connection Section PTZ 7 parameters ; Information about the connection to a pan/tilt unit (PTU) or pan/tilt/zoom ; control (PTZ) of a camera ;SectionFlags for PTZ 7 parameters: PTZAutoConnect false ; If true, connect to this PTZ by default. PTZType unknown ; PTZ or PTU type PTZInverted false ; If unit is mounted inverted (upside-down) PTZSerialPort none ; serial port, or none if not using serial port ; communication PTZRobotAuxSerialPort -1 ; Pioneer aux. serial port, or -1 if not using aux. ; serial port for communication. PTZAddress 192.168.0.90 ; IP address or hostname, or none if not using network ; communication. PTZTCPPort 80 ; TCP Port to use for HTTP network connection Section PTZ 8 parameters ; Information about the connection to a pan/tilt unit (PTU) or pan/tilt/zoom ; control (PTZ) of a camera ;SectionFlags for PTZ 8 parameters: PTZAutoConnect false ; If true, connect to this PTZ by default. PTZType unknown ; PTZ or PTU type PTZInverted false ; If unit is mounted inverted (upside-down) PTZSerialPort none ; serial port, or none if not using serial port ; communication PTZRobotAuxSerialPort -1 ; Pioneer aux. serial port, or -1 if not using aux. ; serial port for communication. PTZAddress 192.168.0.90 ; IP address or hostname, or none if not using network ; communication. PTZTCPPort 80 ; TCP Port to use for HTTP network connection Section Video 1 parameters ; Information about the connection to a video acquisition device, ; framegrabber, or camera ;SectionFlags for Video 1 parameters: VideoAutoConnect true ; If true, connect to this device by default. VideoType vapix ; Device type VideoInverted false ; If image should be flipped (for cameras mounted ; inverted/upside-down) VideoWidth -1 ; Desired width of image VideoHeight -1 ; Desired height of image VideoDeviceIndex -1 ; Device index VideoDeviceName none ; Device name (overrides VideoDeviceIndex) VideoChannel 1 ; Input channel VideoAnalogSignalFormat ; NTSC or PAL VideoAddress 192.168.0.90 ; IP address or hostname, or none if not using ; network communication. VideoTCPPort 80 ; TCP Port to use for HTTP network connection Section Video 2 parameters ; Information about the connection to a video acquisition device, ; framegrabber, or camera ;SectionFlags for Video 2 parameters: VideoAutoConnect false ; If true, connect to this device by default. VideoType unknown ; Device type VideoInverted false ; If image should be flipped (for cameras mounted ; inverted/upside-down) VideoWidth -1 ; Desired width of image VideoHeight -1 ; Desired height of image VideoDeviceIndex -1 ; Device index VideoDeviceName none ; Device name (overrides VideoDeviceIndex) VideoChannel 1 ; Input channel VideoAnalogSignalFormat ; NTSC or PAL VideoAddress 192.168.0.90 ; IP address or hostname, or none if not using ; network communication. VideoTCPPort 80 ; TCP Port to use for HTTP network connection Section Video 3 parameters ; Information about the connection to a video acquisition device, ; framegrabber, or camera ;SectionFlags for Video 3 parameters: VideoAutoConnect false ; If true, connect to this device by default. VideoType unknown ; Device type VideoInverted false ; If image should be flipped (for cameras mounted ; inverted/upside-down) VideoWidth -1 ; Desired width of image VideoHeight -1 ; Desired height of image VideoDeviceIndex -1 ; Device index VideoDeviceName none ; Device name (overrides VideoDeviceIndex) VideoChannel 1 ; Input channel VideoAnalogSignalFormat ; NTSC or PAL VideoAddress 192.168.0.90 ; IP address or hostname, or none if not using ; network communication. VideoTCPPort 80 ; TCP Port to use for HTTP network connection Section Video 4 parameters ; Information about the connection to a video acquisition device, ; framegrabber, or camera ;SectionFlags for Video 4 parameters: VideoAutoConnect false ; If true, connect to this device by default. VideoType unknown ; Device type VideoInverted false ; If image should be flipped (for cameras mounted ; inverted/upside-down) VideoWidth -1 ; Desired width of image VideoHeight -1 ; Desired height of image VideoDeviceIndex -1 ; Device index VideoDeviceName none ; Device name (overrides VideoDeviceIndex) VideoChannel 1 ; Input channel VideoAnalogSignalFormat ; NTSC or PAL VideoAddress 192.168.0.90 ; IP address or hostname, or none if not using ; network communication. VideoTCPPort 80 ; TCP Port to use for HTTP network connection Section Video 5 parameters ; Information about the connection to a video acquisition device, ; framegrabber, or camera ;SectionFlags for Video 5 parameters: VideoAutoConnect false ; If true, connect to this device by default. VideoType unknown ; Device type VideoInverted false ; If image should be flipped (for cameras mounted ; inverted/upside-down) VideoWidth -1 ; Desired width of image VideoHeight -1 ; Desired height of image VideoDeviceIndex -1 ; Device index VideoDeviceName none ; Device name (overrides VideoDeviceIndex) VideoChannel 1 ; Input channel VideoAnalogSignalFormat ; NTSC or PAL VideoAddress 192.168.0.90 ; IP address or hostname, or none if not using ; network communication. VideoTCPPort 80 ; TCP Port to use for HTTP network connection Section Video 6 parameters ; Information about the connection to a video acquisition device, ; framegrabber, or camera ;SectionFlags for Video 6 parameters: VideoAutoConnect false ; If true, connect to this device by default. VideoType unknown ; Device type VideoInverted false ; If image should be flipped (for cameras mounted ; inverted/upside-down) VideoWidth -1 ; Desired width of image VideoHeight -1 ; Desired height of image VideoDeviceIndex -1 ; Device index VideoDeviceName none ; Device name (overrides VideoDeviceIndex) VideoChannel 1 ; Input channel VideoAnalogSignalFormat ; NTSC or PAL VideoAddress 192.168.0.90 ; IP address or hostname, or none if not using ; network communication. VideoTCPPort 80 ; TCP Port to use for HTTP network connection Section Video 7 parameters ; Information about the connection to a video acquisition device, ; framegrabber, or camera ;SectionFlags for Video 7 parameters: VideoAutoConnect false ; If true, connect to this device by default. VideoType unknown ; Device type VideoInverted false ; If image should be flipped (for cameras mounted ; inverted/upside-down) VideoWidth -1 ; Desired width of image VideoHeight -1 ; Desired height of image VideoDeviceIndex -1 ; Device index VideoDeviceName none ; Device name (overrides VideoDeviceIndex) VideoChannel 1 ; Input channel VideoAnalogSignalFormat ; NTSC or PAL VideoAddress 192.168.0.90 ; IP address or hostname, or none if not using ; network communication. VideoTCPPort 80 ; TCP Port to use for HTTP network connection Section Video 8 parameters ; Information about the connection to a video acquisition device, ; framegrabber, or camera ;SectionFlags for Video 8 parameters: VideoAutoConnect false ; If true, connect to this device by default. VideoType unknown ; Device type VideoInverted false ; If image should be flipped (for cameras mounted ; inverted/upside-down) VideoWidth -1 ; Desired width of image VideoHeight -1 ; Desired height of image VideoDeviceIndex -1 ; Device index VideoDeviceName none ; Device name (overrides VideoDeviceIndex) VideoChannel 1 ; Input channel VideoAnalogSignalFormat ; NTSC or PAL VideoAddress 192.168.0.90 ; IP address or hostname, or none if not using ; network communication. VideoTCPPort 80 ; TCP Port to use for HTTP network connection