Pioneer 3TM, 2TM manual ActivMedia Robotics Operating System

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ActivMedia Robotics Operating System

The "overcharge" bit ID7 is set (1) when the batteries are well below full charge and the charger is at full charging current. During this bulk-charging period, the battery voltage rises to around 13.8-14V. The overcharge bit ID7 then drops to low (0) while the batteries charge from approximately 80% to 90% of full charge: from ~13.8 to 14.7V. The charger then reverts to "float mode", maintaining full charge at much lower current and charger voltage (~13.5V).

In float mode, the overcharge bit ID7 is set.

Accordingly, by monitoring the power-good and overcharge bits, as well as the battery voltage, your client may make recharging strategy decisions. The thing to remember is that lead-acid batteries last longest when routinely charged into float mode, typically once per day.

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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 RechargingManual Operation Robot Power and Systems on Manual Operation Robot Power OFFDOCKING/CHARGING System Radio Controls and Accessories Client-server connection optionsOnboard PC Computer Control PanelOperating the Onboard PC PC NetworkingUPS and Genpowerd Safety Aros Watchdogs Install Aria Preparative AssemblyQuick Start Starting UP Client and Server Install BatteriesClient-Server Communications Drive Self-TestDemo Startup Options IpthruSuccessful Connection Operating the Aria Demonstration ClientQuickstart Troubleshooting DisconnectingProper 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 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 ProcessingSerial Port Communications CONFIGpac and Config CommandChanging Baud Rates and Autobauding Encoder Packets HOST-to-AUX Serial TransfersGripper 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 AroscfInteractive Commands Configuring Aros Operating ParametersChanging Parameters Save Your Work PID ParametersKeyword Ticksmm and Revcount 0056 0057 0060 0034Stallval and Stallcount BumpersUpdating and Reconfiguring Aros Drive Lubrication Maintenance & RepairTire Inflation BatteriesAutomated Docking/Charging System Alternative Battery ChargersTightening the AT Drive Belt 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 BusMotors, Encoders, and IR Sensors Bumper PortsUser Control Interface Joystick Port Configuration for Current and Temperature Sensing Pioneer 3 and 2-PLUS MOTOR-POWER BoardAppendix B Controller Power and Interface Radio, Auxiliary, and User Power ConnectorsIR Signal and Power GNDRadio Modem Settings Appendix CConsole mode Serial Ethernet SettingsAppendix D Webpage Peer-to-Peer NetworkingSpecifications Appendix EControls and Ports Warranty & Liabilities Columbia Drive Amherst, NH 603