Pioneer 3TM, 2TM manual Engaging SELF-TESTS

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Joydrive and Self Tests

ENGAGING SELF-TESTS

To enable self-test mode, press the white MOTORS button twice after startup or RESET.14

ATTENTION!

Place your robot on the floor or ground and have everyone step

back before engaging self-tests.

Currently, the only AROS self-test exercises your ActivMedia robot’s drive motors. During this test, the robot is not at all conscious of bystanders. Please have everyone step back and remove any obstacles from within a diameter of four to five feet around before engaging the self-test.

The motor’s self-test begins by engaging the left drive wheel, first forward, then in reverse, each to complete a partial turn clockwise, then counterclockwise. Similarly, the right wheel engages, first forward, then reverse, to complete partial turns, first counterclockwise, then clockwise.

The H8S-AROS controller reverts to its client-connection wait state after completing the motors self-test.

14As described above, the first MOTORS press and release puts the robot into joydrive mode.

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Contents Pioneer H8-Series Operations Manual Page Important Safety Instructions Table of Contents Operating the Aria Demonstration Client Appendix C Introduction Robot PackageBasic Components all shipments Optional Components and Attachments partial listUser-Supplied Components / System Requirements Additional ResourcesSupport Website 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 Server Mode Maintenance and Standalone ModesModes of Operation 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 RechargingManual Operation Robot Power OFF Manual Operation Robot Power and Systems onDOCKING/CHARGING System Radio Controls and Accessories Client-server connection optionsOnboard PC Computer Control PanelOperating the Onboard PC PC NetworkingUPS and Genpowerd Safety Aros Watchdogs Preparative Assembly Install AriaQuick Start Install Batteries Client-Server CommunicationsStarting UP Client and Server Drive Self-TestDemo Startup Options IpthruSuccessful Connection Operating the Aria Demonstration ClientDisconnecting Quickstart TroubleshootingProper Connections 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 Autoconfiguration SYNC2 Opening the Servers-OPENKeeping the Beat-PULSE Closing the Connection-CLOSEMotion Commands RotationActivMedia Robots in Motion Platform Dependent and Independent VariablesPID Controls Internal coordinate systemEnable/Disabling Sonar Position IntegrationSonar Polling Sequence and RateStalls and Emergencies 11-15 ReservedAccessory Commands and Packets Packet ProcessingCONFIGpac and Config Command Serial Port CommunicationsChanging Baud Rates and Autobauding HOST-to-AUX Serial Transfers Encoder PacketsGripper packets Sounds TCM2Onboard PC Heading Correction GyroInput Output I/O User I/OBumper and IR I/O IO packetsExpansion I/O DOCKING/CHARGING System I/ODigital Port Controls Docking/Charging ServersMonitoring the Recharge Cycle Charge State Overcharge ~Volts Charge current ID7ActivMedia Robotics Operating System Updating & Reconfiguring Aros Where to GET Aros SoftwareAros Maintenance Mode Simple Aros UpdatesUpdating and Reconfiguring Aros Starting AroscfConfiguring Aros Operating Parameters Interactive CommandsChanging Parameters Save Your Work PID ParametersKeyword Ticksmm and Revcount 0056 0057 0060 0034Stallval and Stallcount BumpersUpdating and Reconfiguring Aros Maintenance & Repair Tire InflationDrive Lubrication BatteriesAlternative Battery Chargers Automated Docking/Charging SystemTightening the AT Drive Belt Getting Inside Removing the NoseOpening the Deck Factory RepairsPower Connector Appendix aH8S Ports & Connections H8S MicrocontrollerSerial Ports User I/O, Gripper, Docking/Charging PortOD7 Expansion I/O BusBumper 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 Controller Power and Interface Radio, Auxiliary, and User Power ConnectorsIR Signal and Power GNDRadio Modem Settings Appendix CSerial Ethernet Settings Console modeAppendix D Webpage Peer-to-Peer NetworkingSpecifications Appendix EControls and Ports Warranty & Liabilities Columbia Drive Amherst, NH 603