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Pioneer 2 / PeopleBot Operation Manual Manual pdf 25 page image

Pioneer 2 / PeopleBot Operation Manual

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Contents
  1. Table Of Contents
  2. Table Of Contents
  3. Table Of Contents
  4. CHAPTER 1 INTRODUCTION
  5. User-Supplied Components / System Requirements
  6. Support
  7. CHAPTER 2 WHAT IS PIONEER
  8. ActivMedia Robotics Basic Suite
  9. ARIA
  10. The Pioneer Legacy
  11. M ODES OF O PERATION
  12. CHAPTER 3 SPECIFICATIONS & CONTROLS
  13. Deck(s) and Console
  14. Body, Nose, and Accessory Panels
  15. Sonar Arrays with Gain Adjustment
  16. Motors and Position Encoders
  17. Motor-Power Board
  18. Liquid-Crystal Display & Contrast Adjustment
  19. SERIAL
  20. CHAPTER 4 QUICK START
  21. RADIO ON
  22. Q UICKSTART T ROUBLESHOOTING
  23. CHAPTER 5 JOYDRIVE AND SELF-TESTS
  24. Motor Test
  25. B UMPERS
  26. DIGIN AND DIGOUT T EST
  27. CHAPTER 6 PIONEER 2 OPERATING SYSTEM
  28. Packet Data Types
  29. S ERVER I NFORMATION P ACKETS
  30. Client Command Argument Types
  31. Saphira Client Command Support
  32. Keeping the Beat—PULSE
  33. Pioneer in Motion
  34. Position Integration
  35. BUMP_STALL
  36. E XTENDED P ACKETS
  37. SERAUXpac and GETAUX
  38. ENCODERpac and ENCODER Command
  39. TCM2pac and TCM2 Command
  40. DIGOUT and PSUPOS
  41. Pioneer 2 Arm-related SIPs and Commands
  42. CHAPTER 7 UPDATING & RECONFIGURING P2OS
  43. Step 2: Enable FLASH
  44. C ONFIGURING P2OS O PERATING P ARAMETERS
  45. Step 6: Save Your Work
  46. S AVING AND R ESTORING
  47. PID P ARAMETERS
  48. C ALIBRATION T OOLS - REVCOUNTCAL AND COMPASSCAL
  49. CHAPTER 8 MAINTENANCE & REPAIR
  50. Alternative Battery Chargers
  51. Opening the Deck
  52. F ACTORY R EPAIRS
  53. APPENDIX A
  54. User I/O Expansion Port
  55. P ERFORMANCE P EOPLE B OT I/O
  56. The General I/O Bu
  57. APPENDIX B
  58. Power-State Logic
  59. APPENDIX C
  60. APPENDIX D
  61. INDEX
  62. WARRANTY & LIABILITIES
Pioneer 2 / PeopleBot Operation Manual Manual pdf 25 page image
ActivMedia RoboticsQuick StartChapter 4Your ActivMedia robot comes ready for action.11 This chapter describes how to operatethe mobile robot with the Saphira demonstration software. For more details aboutprogramming and operating your ActivMedia mobile robot with Saphira, ARIA, or otherclient software, see their respective programming manuals.Preparative AssemblyOut of the box, your ActivMedia robot comes fully assembled, with its batteries fullycharged—just slide them into the battery box through the back door. You also mayneed to attach an antenna or plug in an accessory that we intentionally left unattachedso as to prevent damage during shipping. Consult the Tech Notes and accessorymanuals that may accompany your robot for final assembly details.Figure 14. Your robot server needs a serial link with a client computer.Your robot requires a serial communication link with a client for operation. The serial linkmay be:! A tether from the robot’s 9-pin serial connector on the Console to a computer! A piggyback laptop cabled to the robot’s 9-pin serial connector on the Console! An optional radio modem pair—one inside the robot attached to themicrocontroller’s host serial port, and a companion radio modem connected tothe serial port of the client computer! An integrated onboard PC wired internally for direct onboard controlSaphira Client InstallationThe Saphira client software-development environment, including the Saphirademonstration program and robot Simulator, comes on CD-ROM with your new robot. Itis configured and compiled for Windows© 9x/ME as well as for RedHat© Linux-based PCs.If you have an onboard PC installed with software from the factory, the Saphirademonstration program already is installed. ActivMedia Robotics customers also mayobtain Saphira and related software and updates for other platforms from our supportwebsite (see Chapter 1, Introduction, for details.) You will need the ID and passwordfrom your Registration Sheet in order to access portions of our customer website:http://robots.activmedia.comWhen installed, Saphira typically requires four megabytes of hard-disk space. To installthe software, follow the instructions in the accompanying README file.1911 You may need to attach some accessories and the PeopleBot V1’s pedestal needs to be attached.
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