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ActivMedia RoboticsStep 6: Save Your WorkUse the save command to save your configuration changes to FLASH or to a disk file. Westrongly recommend that you save each of your robots’ parameter values to disk forlater retrieval should your microcontroller get damaged or it’s FLASH inadvertentlyerased. Default parameter files come with each P2OS distribution, but it is tedious toreconstruct an individual robot’s unique configuration.Editing P2OS ParametersTo view the list of current P2OS constants or variables, type ‘a’, 'c' or 'v', respectively,followed by a return (Enter). Similarly, type '?' or 'help' to see a list of p2oscfcommands.Table 14. p2oscf control commandsCommand Descriptionkeyword Alone, keyword displays current, edited value. Addvalue 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 inFLASH on the robot.a or arm Display current, edited P2OS-based Arm-relatedvalues. May be different than those stored inFLASH on the robot.r or restoreRestores edited (p2oscf) variables to valuescurrently stored in FLASH or from file, ifargument included.save Saves current edited values to FLASH and exitsprogram or saves current edited values to disk forlater reference and continues in editor.q or quit Exits p2oscf without saving any changes to flash.? or help Displays commands and descriptions.To see an individual parameter's current value, type its keyword alone. To change aP2OS parameter's value, type its keyword followed by the replacement value. Thatvalue may be a string (no quotes or spaces) or a decimal or hexadecimal ("0xN")number. For example, to change the watchdog timeout to four seconds, type:> watchdog 4000or> watchdog 0xfa0The critical operating parameters for your robot are revcount, encoder, and the PIDcontrol 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 savethem to FLASH. And, too, you may over-ride many of these parameters with respectiveP2OS commands from the client.49 |
