Pioneer 2TM, 3TM manual Supporting Software, Pioneer Legacy

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ActivMedia Robotics

What’s more, it comes with source code so that you may examine the software and modify it for your own sensors and applications.

Saphira

Saphira, including the Colbert language, is a full-featured robotics control environment developed at SRI International’s Artificial Intelligence Center. Saphira and its ARIA foundation form the robotics-control and applications-development foundation for most ActivMedia robot owners and users. The complete, licensed Saphira robotics development environment, including C/C++ libraries, GUI interface and Simulator, comes bundled with your ActivMedia robot.

Laser Navigation and Localization

Figure 4. ActivMedia’s robot servers require a computer, typically a Windows©- or RedHat© Linux-based PC, to run client software for intelligent robotics command and control operations.

A separate Laser Navigation and Localization package is available as a Saphira add-on. It is a comprehensive suite of software tools and applications by which, with your laser- scanning/range-finder enabled robot, you automatically create, edit, and use maps and floor plans for advanced robotics applications including localization and gradient navigation.

SUPPORTING SOFTWARE

Simulator

The SRIsim Simulator is a connection option that provides a virtual replacement for your ActivMedia robot. By connecting to the simulator instead of a real robot, you can test your client programs, maps, and so on, when the real robot isn’t practical or available.

Mapper

Mapper provides the tools you need to construct a map of your robot’s real operating space (“world”).

THE PIONEER LEGACY

Commercially introduced in Summer 1995, Pioneer 1 is the original platform. It came with a single-board 68HC11-based robot microcontroller and the Pioneer Server Operating System (PSOS) software. Its low-cost and high-performance caused an explosion in the number of researchers and developers who now have access to a real, intelligent mobile robotic platform.

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Contents Pioneer H8-Series Operations Manual Page Important Safety Instructions Table of Contents Operating the Aria Demonstration Client Appendix C Robot Package IntroductionBasic Components all shipments Optional Components and Attachments partial listAdditional Resources User-Supplied Components / System RequirementsSupport Website NewsgroupsSupport@activmedia.com SupportPioneer Reference Platform What Is Pioneer?Hitachi H8S-BASED Microcontroller Plus MOTOR-POWER BoardHttp//robots.activmedia.com Client SoftwarePioneer Legacy Supporting SoftwarePioneer 2 and PeopleBot Pioneer 1 and ATActivMedia Robotics Maintenance and Standalone Modes Server ModeModes of Operation Joydrive and Self Test ModesPhysical Characteristics Specifications & ControlsMotor Stop Button Main ComponentsP3-DX User Control Panel User Control PanelSonar Arrays with Gain Adjustment Body, Nose, and Accessory PanelsMotors, Wheels, and Position Encoders Batteries and PowerRecharging Battery Indicators and Low Voltage ConditionsManual Operation Robot Power and Systems on Manual Operation Robot Power OFFDOCKING/CHARGING System Client-server connection options Radio Controls and AccessoriesComputer Control Panel Onboard PCPC Networking Operating the Onboard PCUPS and Genpowerd Safety Aros Watchdogs Install Aria Preparative AssemblyQuick Start Client-Server Communications Install BatteriesStarting UP Client and Server Drive Self-TestIpthru Demo Startup OptionsOperating the Aria Demonstration Client Successful ConnectionQuickstart Troubleshooting DisconnectingProper Connections SRIsim OFFJoydrive and Self-Tests Joydrive ModeEngaging SELF-TESTS CLIENT-SERVER Communication Packet Protocols ActivMedia Robotics Operating SystemPacket Checksum Packet ErrorsMultiply by DistConvFactor‡ Server Information PacketsBefore Client Connection Client CommandsP2OS CLIENT-SERVER Connection Opening the Servers-OPEN Autoconfiguration SYNC2Keeping the Beat-PULSE Closing the Connection-CLOSERotation Motion CommandsPlatform Dependent and Independent Variables ActivMedia Robots in MotionInternal coordinate system PID ControlsPosition Integration Enable/Disabling SonarSonar Polling Sequence and Rate11-15 Reserved Stalls and EmergenciesPacket Processing Accessory Commands and PacketsSerial Port Communications CONFIGpac and Config CommandChanging Baud Rates and Autobauding Encoder Packets HOST-to-AUX Serial TransfersGripper packets TCM2 SoundsHeading Correction Gyro Onboard PCUser I/O Input Output I/OIO packets Bumper and IR I/ODOCKING/CHARGING System I/O Expansion I/ODigital Port Controls Docking/Charging ServersCharge State Overcharge ~Volts Charge current ID7 Monitoring the Recharge CycleActivMedia Robotics Operating System Where to GET Aros Software Updating & Reconfiguring ArosAros Maintenance Mode Simple Aros UpdatesStarting Aroscf Updating and Reconfiguring ArosInteractive Commands Configuring Aros Operating ParametersChanging Parameters PID Parameters Save Your WorkKeyword 0056 0057 0060 0034 Ticksmm and RevcountBumpers Stallval and StallcountUpdating and Reconfiguring Aros Tire Inflation Maintenance & RepairDrive Lubrication BatteriesAutomated Docking/Charging System Alternative Battery ChargersTightening the AT Drive Belt Removing the Nose Getting InsideFactory Repairs Opening the DeckAppendix a Power ConnectorH8S Ports & Connections H8S MicrocontrollerUser I/O, Gripper, Docking/Charging Port Serial PortsExpansion I/O Bus OD7Motors, Encoders, and IR Sensors Bumper PortsUser Control Interface Joystick Port Configuration for Current and Temperature Sensing Pioneer 3 and 2-PLUS MOTOR-POWER BoardAppendix B Radio, Auxiliary, and User Power Connectors Controller Power and InterfaceGND IR Signal and PowerAppendix C Radio Modem SettingsConsole mode Serial Ethernet SettingsAppendix D Peer-to-Peer Networking WebpageAppendix E SpecificationsControls and Ports Warranty & Liabilities Columbia Drive Amherst, NH 603