Pioneer 3TM User-Supplied Components / System Requirements, Additional Resources, Support Website

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Congratulations

Global Positioning System

Heading-correction gyro

Compass

Bumper rings

Serial cables for external connections

Many more…

User-Supplied Components / System Requirements

Client PC: 586-class or later PC with Microsoft Windows© or RedHat© Linux OS One RS-232-compatible serial port or Ethernet

Four megabytes of available hard-disk storage

ADDITIONAL RESOURCES

New ActivMedia Robotics customers get three additional and valuable resources:

A private account on our support Internet website for downloading software, updates, and manuals

Access to private newsgroups

Direct access to the ActivMedia Robotics technical support team

Support Website

We maintain a 24-hour, seven-day per week World Wide Web server where customers may obtain software and support materials:

http://robots.activmedia.com

Some areas of the website are restricted to licensed customers. To gain access, enter the username and password written on the Registration & Account Sheet that accompanied your robot.

Newsgroups

We maintain several email-based newsgroups through which ActivMedia robot owners

share ideas, software, and questions about the robot. Visit the support http://robots.activmedia.com website for more details. To sign up for pioneer-users, for example, send an e-mail message to the –requestsautomated newsgroup server:

To: pioneer-users-requests@activmedia.com

From: <your return e-mail address goes here>

Subject: <choose one command:>

help (returns instructions) lists (returns list of newsgroups) subscribe

unsubscribe

Our SmartList-based listserver will respond automatically. After you subscribe, send your email comments, suggestions, and questions intended for the worldwide community of Pioneer users:1

To: pioneer-users@activmedia.com

From: <your return e-mail address goes here>

Subject: <something of interest to pioneer users>

1Note: Leave out the –requests part of the email address when sending messages to the newsgroup.

2

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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 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 Install Batteries Client-Server CommunicationsStarting UP Client and Server 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 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 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 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 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 Maintenance & Repair Tire InflationDrive Lubrication BatteriesTightening the AT Drive Belt Alternative Battery ChargersAutomated Docking/Charging System 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 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