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Pioneer 2 / PeopleBot Operation Manual Manual pdf 32 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 32 page image
Joydrive and Self Testshandle find its default centered position before starting to drive. Try exiting (reset) andrestarting joydrive mode if the joystick doesn’t seem to function well.The joystick’s “fire” button (button 1) acts as the joydrive “deadman”—press it to startdriving; release it to stop the robot’s motors. The robot should drive forward and reverse,and turn left or right in response and at speeds relative to the joystick’s position.When not connected with a client control program, releasing the joystick fire buttonstops the robots. However, when connected with a client, the client program resumesautomatic operation of your robot’s drive system. So, for example, your robot may speedup or slow down and turn, depending on the actions of your client program.You may adjust the maximum translational and rotational speeds, even disable joydrivemode, through special P2OS configuration parameters. See Chapter 7, Updating &Reconfiguring P2OS, for details.Engaging Self-TestsTo enable self-test mode, press the white MOTORS button twice after startup or RESET.15ATTENTION!Place your robot on the floor or ground and have everyone stepback before engaging self-tests.A message should appear in the LCD:Press again tobegin tests 13.2*And there should be that rhythmic beeping sound coming from the Console speaker toalert you that you may have engaged joydrive and self-test modes inadvertently. If so,press the red RESET button. If you really intended to run the self-tests, move on...Note that you may interrupt the current self-test and move on to the next one by pressingthe white MOTORS button. Or you may discontinue all testing at any time and return tothe P2OS servers’ wait state by cycling power or, better, by pressing the red RESET buttonon your robot’s Console.Motors TestThe first self-test exercises your ActivMedia robot’s drive motors. During this test, the robotis not at all conscious of bystanders. Please have everyone step back and remove anyobstacles from within a diameter of four to five feet around. When ready, press the whiteMOTORS button.The motors self-test begins by engaging the left drive wheel, first forward, then in reverse,each to complete a partial turn clockwise, then counterclockwise. Similarly, the rightwheel engages, first forward, then reverse to complete partial turns, firstcounterclockwise, then clockwise.The Console LCD, although difficult to read while the robot is in motion, displays amessage for each test. For example:Left forward13.2*15 As described above, the first MOTORS press and release puts the robot into joydrive mode.26
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