Pioneer 3TM, 2TM manual Operating the Onboard PC, PC Networking

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Specifications and Controls

The controls and ports use common connectors: standard monitor DSUB and PS/2 connectors on the mouse and keyboard. The Ethernet is a 10/100Base-T standard RJ-45 socket.

The ON/OFF slide switch directly controls power to the onboard PC—through Main Power, unlike some earlier versions of the onboard system which included a delayed power shutdown. The PWR LED lights when the computer has power.

The HDD LED lights when the onboard hard-disk drive is active. The RESET button restarts the PC.

Operating the Onboard PC

This is a brief overview of operating the onboard PC. Please consult the Computer Systems Documentation and the OS manufacturer’s documentation for more detail. ActivMedia Robotics’ software runs over either Microsoft Windows (currently Windows 2000®) or RedHat® Linux (currently version 7). Accordingly, we prefer (the latter, in particular) and support those OSes on the onboard PC.

When we perform the installation and configuration, we install our robotics and accessory software typically in /usr/local on Linux systems, or in C:\Program Files\ActivMedia Robotics under Windows. Of course, we install the appropriate drivers for the various accessory expansion cards, such as for a framegrabber or sound card. Please consult the respective ActivMedia Robotics application software manuals, such as the ActivMedia Color Tracking System (ACTS) for the video framegrabber or Festival for the sound card.

The first time you access the onboard PC, we recommend that you put the robot up on blocks so that it cannot inadvertently move and wreak havoc with external connections. Then attach a keyboard, monitor, and mouse to their respective sockets on the Computer Control Panel. Switch Main Power and then the computer power switch on.

After boot up, log in to the system. We’ve already created two users: one with common systems and file read/write permissions (guest) and one with full-access to the PC software and OS—root(Linux) or administrator (Windows). If there is a password (usually not) it’s activmedia. When connected directly, we recommend you log in with full-access capabilities so that you can do systems set up and maintenance, such as change passwords, add users, and set up the network. Do note that with Linux systems, you cannot log in remotely over the network as root; you must log in as a common user and use the ‘su –‘command thereafter to attain superuser (root) status.

Once logged into a Windows system, it’s simply a matter of clicking the mouse to select programs and applications. With Linux, use the ‘startx’ command to enable the X- Windows desktop and GUI environment. You might perform some of the QuickStart activities this way, although motion is impractical because of the monitor, mouse, and keyboard tethers. You may remove these while the system is active at your own risk.

Rather, we suggest that you run the QuickStart activities from an offboard computer first (onboard PC off), and then tackle the networking issues to establish a remote, preferably wireless connection with your robot.

PC Networking

The RJ-45 connector on the Computer Control Panel provides wired 10/100Base-T Ethernet networking directly with the onboard PC. With the purchased option, we also install a PCMCIA adaptor card on the PC’s accessory stack and insert a 10GHz 11Mbps

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Contents Pioneer H8-Series Operations Manual Page Important Safety Instructions Table of Contents Operating the Aria Demonstration Client Appendix C Basic Components all shipments IntroductionRobot Package Optional Components and Attachments partial listSupport Website User-Supplied Components / System RequirementsAdditional Resources NewsgroupsSupport Support@activmedia.comWhat Is Pioneer? Pioneer Reference PlatformPlus MOTOR-POWER Board Hitachi H8S-BASED MicrocontrollerClient Software Http//robots.activmedia.comSupporting Software Pioneer LegacyPioneer 1 and AT Pioneer 2 and PeopleBotActivMedia Robotics Modes of Operation Server ModeMaintenance and Standalone Modes Joydrive and Self Test ModesSpecifications & Controls Physical CharacteristicsMain Components Motor Stop ButtonUser Control Panel P3-DX User Control PanelBody, Nose, and Accessory Panels Sonar Arrays with Gain AdjustmentBatteries and Power Motors, Wheels, and Position EncodersBattery Indicators and Low Voltage Conditions RechargingDOCKING/CHARGING System Manual Operation Robot Power OFFManual Operation Robot Power and Systems on Radio Controls and Accessories Client-server connection optionsOnboard PC Computer Control PanelOperating the Onboard PC PC NetworkingUPS and Genpowerd Safety Aros Watchdogs Quick Start Preparative AssemblyInstall Aria Starting UP Client and Server Install BatteriesClient-Server Communications Drive Self-TestDemo Startup Options IpthruSuccessful Connection Operating the Aria Demonstration ClientProper Connections DisconnectingQuickstart Troubleshooting OFF SRIsimJoydrive Mode Joydrive and Self-TestsEngaging SELF-TESTS ActivMedia Robotics Operating System CLIENT-SERVER Communication Packet ProtocolsPacket Errors Packet ChecksumServer Information Packets Multiply by DistConvFactor‡Client Commands Before Client ConnectionP2OS CLIENT-SERVER Connection Keeping the Beat-PULSE Autoconfiguration SYNC2Opening the Servers-OPEN Closing the Connection-CLOSEMotion Commands RotationActivMedia Robots in Motion Platform Dependent and Independent VariablesPID Controls Internal coordinate systemSonar Enable/Disabling SonarPosition Integration Polling Sequence and RateStalls and Emergencies 11-15 ReservedAccessory Commands and Packets Packet ProcessingChanging Baud Rates and Autobauding CONFIGpac and Config CommandSerial Port Communications Gripper packets HOST-to-AUX Serial TransfersEncoder Packets Sounds TCM2Onboard PC Heading Correction GyroInput Output I/O User I/OBumper and IR I/O IO packetsDigital Port Controls Expansion I/ODOCKING/CHARGING System I/O Docking/Charging ServersMonitoring the Recharge Cycle Charge State Overcharge ~Volts Charge current ID7ActivMedia Robotics Operating System Aros Maintenance Mode Updating & Reconfiguring ArosWhere to GET Aros Software Simple Aros UpdatesUpdating and Reconfiguring Aros Starting AroscfChanging Parameters Configuring Aros Operating ParametersInteractive Commands Save Your Work PID ParametersKeyword Ticksmm and Revcount 0056 0057 0060 0034Stallval and Stallcount BumpersUpdating and Reconfiguring Aros Drive Lubrication Maintenance & RepairTire Inflation BatteriesTightening the AT Drive Belt Alternative Battery ChargersAutomated Docking/Charging System Getting Inside Removing the NoseOpening the Deck Factory RepairsH8S Ports & Connections Power ConnectorAppendix a H8S MicrocontrollerSerial Ports User I/O, Gripper, Docking/Charging PortOD7 Expansion I/O BusUser Control Interface Bumper PortsMotors, Encoders, and IR Sensors Joystick Port Appendix B Pioneer 3 and 2-PLUS MOTOR-POWER BoardConfiguration for Current and Temperature Sensing Controller Power and Interface Radio, Auxiliary, and User Power ConnectorsIR Signal and Power GNDRadio Modem Settings Appendix CAppendix D Serial Ethernet SettingsConsole mode Webpage Peer-to-Peer NetworkingSpecifications Appendix EControls and Ports Warranty & Liabilities Columbia Drive Amherst, NH 603