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

	ActivMedia Robotics
STARTING UP CLIENT AND SERVER	24
Drive Self-Test	24
Client Server Connection	24
Demo Startup Options	25
A Successful Connection	26
OPERATING THE ARIA DEMONSTRATION CLIENT	26
DISCONNECTING	27
QUICKSTART TROUBLESHOOTING	27
Proper Connections	27
SRIsim	28
CHAPTER 5 JOYDRIVE AND SELF-TESTS	29
JOYDRIVE MODE	29
ENGAGING SELF-TESTS	30
CHAPTER 6 ACTIVMEDIA ROBOTICS OPERATING SYSTEM	31
CLIENT-SERVERCOMMUNICATION PACKET PROTOCOLS	31
Packet Checksum	32
Packet Errors	32
SERVER INFORMATION PACKETS	33
CLIENT COMMANDS	34
THE CLIENT-SERVERCONNECTION	36
Autoconfiguration (SYNC2)	37
Opening the Servers—OPEN	37
Keeping the Beat—PULSE	37
Closing the Connection—CLOSE	37
MOTION COMMANDS	38
ActivMedia Robots in Motion	39
Platform Dependent and Independent Variables	39
PID Controls	40
Position Integration	41
SONAR	41
Enable/Disabling Sonar	41
Polling Sequence and Rate	41
STALLS AND EMERGENCIES	42
ACCESSORY COMMANDS AND PACKETS	43
Packet Processing	43
CONFIGpac and CONFIG Command	44
SERIAL PORT COMMUNICATIONS	44
Changing Baud Rates and Autobauding	44
HOST-to-AUX Serial Transfers	45
ENCODER PACKETS	45
Gripper packets	45
Sounds	46
TCM2	46
Onboard PC	47
Heading Correction Gyro	47
INPUT OUTPUT (I/O)	48
User I/O	48
Bumper and IR I/O	49
IO packets	49
Expansion I/O	50
DOCKING/CHARGING SYSTEM I/O	50
Digital Port Controls	50
Docking/Charging Servers	50
Monitoring the Recharge Cycle	51
CHAPTER 7 UPDATING & RECONFIGURING AROS	53
WHERE TO GET AROS SOFTWARE	53
AROS MAINTENANCE MODE	53
SIMPLE AROS UPDATES	53

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