Pioneer 3TM, 2TM manual Successful Connection, Operating the Aria Demonstration Client

Table 2. ARIA demo operation modes

Quick Start

A Successful Connection

ARIA prints out lots of diagnostic text as it negotiates a connection with the robot. If successful, the client requests various AROS servers to start their activities, including sonar polling, position integration, and

so on. The microcontroller sounds an audible connection

cue, and you should hear the						MODE	HOT	DESCRIPTION
robot’s sonar ping with a							KEY
distinctive		and		repetitive		laser	l	Displays the closest and furthest readings
clicking.		In	addition,		the			from the robot’s laser range finder
motors-associated STATUS LED						io	i	Displays the state of the robot’s digital
on the User Control Panel should								and analog-to-digital I/O ports
light continuously				(was flashing		position	p	Displays the coordinates of the robot’s
slowly		while		awaiting
connection). Note that the								position relative to its starting location
						bumps	b	Displays the status of the robot’s bumpers
ARIA	demo			automatically
engages		your	robot’s motors			sonar	s	Displays the robot’s sonar readings
though		a	special		client
						camera	c	Controls and exercises the robot’s pan-
command.			Normally, the
motors	are disengaged				when			tilt-zoom robotic camera
first connecting.						gripper	g	Controls, exercises, and displays status of
The	amber		SERIAL		port			the robot’s Gripper
						wander	w	Sends the robot to move around at its own
indicator LEDs on the robot’s
User Control Panel should blink								whim, while avoiding obstacles
to indicate ARIA-client to AROS-						teleop	t	Allows the user to drive and steer the
server communications, too.
								robot via the keyboard or a joystick
								connected to the computer
OPERATING THE ARIA
DEMONSTRATION CLIENT

When connected with the ARIA demo client, your robot becomes responsive and intelligent. For example, it moves cautiously. Although it may drive toward an obstacle, your ActivMedia robot will not crash because the ARIA demo includes obstacle- avoidance behaviors which enable the robot to detect and actively avoid collisions.

The ARIA demo displays a menu of robot	Table 2. Keyboard teleoperation
operation options. The default mode of
operation is teleop. In teleop mode, you
	KEY	ACTION
drive the robot manually, using the arrow	↑	Increment forward velocity
keys on your keyboard or a joystick
connected to the client PC’s joystick port	↓	Decrement forward velocity
(as opposed to a joystick port on the
	←	Incremental left turn
robot).
	→	Incremental right turn
While driving from the keyboard, each
keypress speeds the robot forward or	space	All stop
backward or incrementally changes its

direction incrementally. For instance, when turning, it is often useful to press the left- or right-turn key rapidly several times in a row, because the turn increment is small.

The other modes of ARIA demo operation give you access to your robot’s various sensors and accessories, including encoders, sonar, laser, Gripper, a pan-tilt-zoom robotic camera, I/O port states, bumpers, and more. Accordingly, use the ARIA demo not only

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