Pioneer 2TM, 3TM manual P3-DX User Control Panel

ActivMedia Robotics

User Control Panel

The User Control Panel is where you have access to the AROS-based onboard microcontroller. Found inside the AT’s hinged access panel on the deck or on the left- side panel of the DX, it consists of control buttons and indicators, and an RS232- compatible serial port with a 9-pin DSUB connector.

The red PWR LED is lit whenever main power is applied to the robot. The green STAT LED state depends on the operating mode and other conditions. It flashes slowly when the controller is awaiting a connection with a client and flashes quickly when in joydrive mode or when connected with a client and the motors are engaged. It also flashes moderately fast when the controller is in maintenance mode.

The BATTERY LED’s apparent color depends on your robot’s battery voltage: green when fully charged (>12.5 volts) through orange, and finally red when the voltage is below

11.5.When in maintenance mode, however, the BATTERY LED glows bright red only, regardless of battery charge.

A built-in piezo buzzer (audible through the holes just above the STAT and PWR LEDs) provides audible clues to the robot’s state, such as upon successful startup of the controller and a client connection. An AROS client command lets you program the buzzer, too, to play your own sounds.

The SERIAL connector, with incoming
and outgoing data indicator LEDs (RX
and TX, respectively), is through where
you may interact with the H8S
microcontroller from an offboard
computer for tethered client-server
control and for AROS system
maintenance. The port is shared
internally by the HOST serial port, to
which we connect the onboard
computer or radio modem/Ethernet.
Digital switching circuitry disables the	or
internal HOST serial port if the computer
radio modem is OFF. However, serial
port interference will be a problem if
the HOST and User Control SERIAL ports
are both occupied and engaged.
Accordingly, remove the cable from	Figure 11. P3-DX User Control Panel
the SERIAL port if you plan to connect
with the controller through the onboard
radio modem or PC.

RADIO and AUX are pushbutton switches which engage or disengage power to the respective devices on the Motor/Power Interface board. See Appendix B for power connections. Respective red LEDs indicate when power is ON.

The red RESET pushbutton acts to unconditionally reset the H8S controller, disabling any active connections or controller-attached devices, including the motors.

The white MOTORS pushbutton’s actions depend on the state of the controller. When connected with a client, push it to manually enable and disable the motors, as its label implies. When not connected, press the pushbutton once to enable joydrive mode, and again to enable the motors self-test.

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