Pioneer 2TM, 3TM manual Motors, Wheels, and Position Encoders, Batteries and Power

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ActivMedia Robotics

Each sonar array comes with its own driver electronics for independent control. Each array’s sonar are multiplexed; the sonar acquisition rate is adjustable, normally set to 25 Hz (40 milliseconds per sonar per array). Sensitivity ranges from ten centimeters (six inches) to over four meters, depending on the ranging rate. You may control the sonar’s firing pattern through software, too; the default is left-to-right in sequence 0 to 7 for each array. See the AROS chapters 6 and 7 for details.

The driver electronics for each array is calibrated at the factory. However, you may adjust the array’s sensitivity and range to accommodate differing operating environments. The sonar gain control is on the underside of the sonar driver board, which is attached to the floor of each sonar module.

Sonar sensitivity adjustment controls are accessible directly, although you may need to remove the Gripper to access the front sonar, if you have that accessory attached.8 For the front sonar, for instance, locate a hole near the front underside of the array through which you can see the cap of the sonar-gain adjustment potentiometer. Using a small flat-blade screwdriver, turn the gain control counterclockwise to make the sonar less sensitive to external noise and false echoes.

Low sonar-gain settings reduce the robot’s ability to see small objects. Under some circumstances, that is desirable. For instance, attenuate the sonar if you are operating in a noisy environment or on uneven or highly reflective floora heavy shag carpet, for example. If the sonar are too sensitive, they will “see” the carpet immediately ahead of the robot as an obstacle.

Increase the sensitivity of the sonar by turning the gain-adjustment screw clockwise, making them more likely to see small objects or objects at a greater distance. For instance, increase the gain if you are operating in a relatively quiet and open environment with a smooth floor surface.

Motors, Wheels, and Position Encoders

Pioneer 2’s and 3’s drive systems use high-speed, high-torque, reversible-DC motors, each equipped with a high-resolution optical quadrature shaft encoder for precise position and speed sensing and advanced dead-reckoning. Motor gearhead ratios and encoder ticks per revolution vary by robot model. However, AROS converts most client commands and server information from platform independent distance units into platform-dependent encoder ticks, as expressed in the Ticksmm FLASH parameter, calculated as the encoder counts (4 * 500, typically) divided by the product of wheel circumference times gear ratio.

Inflate the tires evenly

or your robot won’t drive properly.

All Pioneer 3 robots now come with pneumatic tires so that you may configure your robot for differing terrains. In any configuration, however, be careful to inflate the tires evenly and adjust the respective Ticksmm and rotational Revcount FLASH parameters for proper operation. We ship with the tires inflated to 23 psi each.

BATTERIES AND POWER

Except when outfitted with the automated docking/charging system (see below), Pioneer 2 and 3 robots may contain up to three, hot-swappable, seven ampere-hour, 12 volts direct-current (VDC) sealed lead/acid batteries (total of 252 watt-hours), accessible through a hinged and latched rear door. We provide a suction cup tool to help grab

8It’s easier to remove the DXE’s Nose with Gripper attached.

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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 OFF Manual Operation Robot Power and Systems onDOCKING/CHARGING System Client-server connection options Radio Controls and AccessoriesComputer Control Panel Onboard PCPC Networking Operating the Onboard PCUPS and Genpowerd Safety Aros Watchdogs Preparative Assembly Install AriaQuick Start Client-Server Communications Install BatteriesStarting UP Client and Server Drive Self-TestIpthru Demo Startup OptionsOperating the Aria Demonstration Client Successful ConnectionDisconnecting Quickstart TroubleshootingProper 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 PacketsCONFIGpac and Config Command Serial Port CommunicationsChanging Baud Rates and Autobauding HOST-to-AUX Serial Transfers Encoder PacketsGripper 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 ArosConfiguring Aros Operating Parameters Interactive CommandsChanging Parameters PID Parameters Save Your WorkKeyword 0056 0057 0060 0034 Ticksmm and RevcountBumpers Stallval and StallcountUpdating and Reconfiguring Aros Tire Inflation Maintenance & RepairDrive Lubrication BatteriesAlternative Battery Chargers Automated Docking/Charging SystemTightening 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 OD7Bumper Ports Motors, Encoders, and IR SensorsUser Control Interface Joystick Port Pioneer 3 and 2-PLUS MOTOR-POWER Board Configuration for Current and Temperature SensingAppendix B Radio, Auxiliary, and User Power Connectors Controller Power and InterfaceGND IR Signal and PowerAppendix C Radio Modem SettingsSerial Ethernet Settings Console modeAppendix D Peer-to-Peer Networking WebpageAppendix E SpecificationsControls and Ports Warranty & Liabilities Columbia Drive Amherst, NH 603