| Anchor | ||||
|---|---|---|---|---|
|
目录
| Table of Contents |
|---|
...
| type | flat |
|---|
...
|
...
|
...
|
...
用法简介
格式
| Code Block | ||||||
|---|---|---|---|---|---|---|
| ||||||
slamware_console base [options] <command> [cmd_arguments] |
可用选项
选项名称 | 简写 | 描述 | 备注 |
--channel | -c channel | The communication channel with the base, supported channels: serial, tcp |
|
--help | -h help | Show this message |
|
--port | -p port | Trace communication between host and base |
|
--trace-comm | -t trace comm | Trace communication between host and base |
|
--version | -v print version number | Print version number |
|
--host | host | The host used to communicate with the base (required for tcp channel) |
|
命令概览
命令名称 | 描述 | 备注 |
beacon | Read auto home IR beacon data |
|
bumper | Read bumper, cliff sensor data |
|
config | Read configuration from base |
|
event | Send Event Cmd |
|
monitor | Continiously read sensor data and output to the console |
|
motor | Read motor information, such as wheels' odometry |
|
poll | Poll Base Cmd |
|
run | Make motor run |
|
sensor | Read distance sensors' data, such as ultrasonic data |
|
status | Read base status, such as battery, charging status and etc. |
|
test | Test base control bus protocol |
|
vrun | Vector run. vrun <vx> <vy> <omega> <time>. Units: m/s m/s rad/s s |
|
SA001 Slamware Console Application Note
命令用法及代码示例
| Info |
|---|
如下所有代码示例使用的接口假设为COM3 |
BEACON
读取自动返回充电时红外灯塔数据。
代码示例
| Code Block | ||||||||
|---|---|---|---|---|---|---|---|---|
| ||||||||
C:\Users\LW\Desktop\tools\slamware_console_tool>slamware_console.exe base -c serial -p COM3 beacon [rp.slamware.test.SlamwareConsoleApplication][INFO] Slamware Console 1.7.0 [rp.slamware.utils.ChannelFactory] [INFO]Connecting to serial:COM3... [rp.slamware.test.SlamwareBaseConsoleApplication][INFO] Connected to Control Bus Device at serial:COM3 [rp.slamware.test.SlamwareBaseConsoleApplication][INFO] Model: ref base [rp.slamware.test.SlamwareBaseConsoleApplication][INFO] Firmware Version: 1.83 [rp.slamware.test.SlamwareBaseConsoleApplication][INFO] Hardware version: 0.1 [rp.slamware.test.SlamwareBaseConsoleApplication][INFO] Serial Number: C47DDDC6F19575BD90AB43C0 [rp.slamware.test.SlamwareBaseConsoleApplication][INFO] Found 3 beacons and 3 probes [rp.slamware.test.SlamwareBaseConsoleApplication][INFO] Probe #0: 0: 1: 2: [rp.slamware.test.SlamwareBaseConsoleApplication][INFO] Probe #1: 0: 1: 2: [rp.slamware.test.SlamwareBaseConsoleApplication][INFO] Probe #2: 0: 1: 2: [rp.slamware.test.SlamwareConsoleApplication][INFO] Successfully executed command |
SA001 Slamware Console Application Note
BUMPER
...