Pioneer 2 / PeopleBot manual Controls, Ports, and Indicators

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ActivMedia Robotics

Motor-Power Board

Inside the robot, mounted to the battery box, is the Motor-Power board. It supplies both the 12 and five volts direct-current (VDC) power requirements of your robot’s systems. The standard Motor-Power board has a 12-pin User-Power connector that supports four sets of five- and 12-VDC power ports (total 1.5 ampere) for custom accessories.

An optional computer-power section to the board supplies power for the onboard PC. It includes a special low-power and power-down circuit that lets you gently shut down the onboard PC without direct connection through a keyboard or monitor. (See Appendix B in this manual and the Computer Tech Notes that may accompany your robot for details.)

Microcontroller

The Pioneer 2/PeopleBot microcontroller has a 20 MHz Siemens 88C166 microprocessor with integrated 32K FLASH-ROM. It also has 32K of dynamic RAM, two RS232-compatible serial ports, several digital and analog-to-digital, and PSU I/O user-accessible ports, and an eight-bit expansion bus. (See Appendix A for I/O port details.)

All of the I/O ports, except those used for the motors, encoders, and sonar, are available to the user for accessory hardware. The embedded operating software (P2OS) lets you support and manage each of these I/O ports. Connector pinouts and electronics details appear in the Appendices.

Sonar Boards

Associated with each sonar arrayforward and rearis a sonar multiplexer/firing board. Wire leads to the individual sonar plug into a 16-pin connector on the board. A 10- conductor power/signal cable connects the sonar board with the microcontroller.

Controls, Ports, and Indicators

Main Power, Fuse, and Indicator

A single slide-switch on the rear left panel of Pioneer 2 and PeopleBot robots controls power to the entire robot and all its integrated accessories. Up is ON; down is OFF. A red LED on the Console indicates Main Power.

Inside, on the top right side of the battery box (accessible through the hinged back door) is the Main Power Fuse. It is an automotive-type (spade terminals) 15A (DX, DXe, CE, and PeopleBots) or 20A (AT) fuse designed for tool-less replacement. To the left of the fuse, on the same battery connection board, is the main power relay, which isolates the high- ampere draw of the robot system from the Main Power Switch.

Recharge/Power Port

Below the Main Power Switch is the battery recharger port. the robot's electronics, motors, and accessories, even recommended accessory power charger or equivalent.

It provides 12 VDC power to without batteries. Use the

You should maintain your robot’s batteries in a charged state above 11 VDC, as indicated on the Console LCD. We recommend recharging the battery when it falls below 11 VDC, even though the robot may continue to operate below 10 VDC. The microcontroller will sound a warning when the battery voltage falls below that level (see Chapter 7, Updating & Reconfiguring P2OS), and the optional computer power circuitry

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Contents Pioneer 2 / PeopleBot TM Page Important Safety Instructions Table of Contents Pioneer 2 Operating System Appendix C Robot Package IntroductionBasic Components all shipments Optional Components and Attachments partial listUser-Supplied Components / System Requirements Additional ResourcesSoftware NewsgroupsSupport@activmedia.com SupportClient Software What Is Pioneer?ActivMedia Robotics Basic Suite Http//robots.activmedia.comSaphira AriaPioneer Legacy PioneerPioneer 2 and PeopleBot Page Modes of Operation Specifications & Controls Physical CharacteristicsMain Components Pioneer 2-AT Console and hinged Deck Decks and ConsoleBody, Nose, and Accessory Panels Sonar Arrays with Gain Adjustment Batteries and Power ElectronicsMotors and Position Encoders Controls, Ports, and Indicators Reset and Motors Liquid-Crystal Display & Contrast AdjustmentSerial Safety Watchdogs and Configuration Pioneer 2 Arm-related SIPs and CommandsPeopleBot Sensors and Emergency Stop Saphira Client Installation Preparative AssemblyQuick Start Http//robots.activmedia.comRobot Cold Start-Up Saphira Client Start-UpSET SAPHIRA=C\Saphira\ver62 Export DISPLAY=remotecomputer0Successful Connection Starting Client-Server CommunicationsConnected Operating the Saphira Demonstration ClientQuickstart Troubleshooting Quick Start Joydrive and Self-Tests Joystick ConnectionJoydrive Operation Motors Test Engaging Self-TestsPress again to begin tests Left forward 13.2Bumpers Sonar TestGripper CompassAnalog Tests Digin and Digout TestUser PWMs Digin DigoutCommunication Packet Protocol Pioneer 2 Operating SystemPacket Errors Packet Data TypesPacket Checksum Name Data Type Description Server Information Packets Client CommandsBefore Client Connection Ptupos Client Command Argument TypesAutoconfiguration Saphira Client Command SupportProgramming P2OS Establishing a Client-Server Connection-SYNCMovement Commands Keeping the Beat-PULSEClosing the Connection-CLOSE PID Controls Pioneer in MotionPosition Integration SonarSfRobotComInt44,1 Estop and EstallCONFIGpac and Config Command Extended PacketsPacket Processing SERAUXpac and Getaux PLAYLISTpac and Playlist Command ENCODERpac and Encoder CommandGRIPPERpac and Griprequest Checksum Integer Computed checksumDIGIN, TIMER, and Adsel TCM2pac and TCM2 CommandInput / Output I/O SfSMessageDigin is %i,sfRobot.diginIOpac and Iorequest Digout and PsuposPerformance PeopleBot IRs Where to Get P2OS Software Updating & Reconfiguring P2OSInstalling the P2OS Utilities Updating P2OSPut Microcontroller into Download Mode Enable FlashDownload Troubleshooting Run p2osdlSteps 1-3 Preparing for Configuration Configuring P2OS Operating ParametersChanging Configuration Parameters Run p2oscfEditing P2OS Parameters Saving and Restoring Arm ParametersSave C\p2os\myP2DX Keyword Encoder and Revcount PID ParametersParameter DXe Performance PB Calibration Tools revcountcal and compasscalCompasscal /dev/ttyS3 Maintenance & Repair Drive LubricationBatteries Alternative Battery Chargers Getting InsideRemoving the Nose Remove indicated screws to remove Original Pioneer 2-AT Deck Opening the DeckSupport@activmedia.com 603 924-2184 fax 603 924-9100 voice Factory RepairsC166 Controller Ports & Connections Appendix aUser I/O Expansion Port Internal Serial ConnectorsPin Label Use Performance PeopleBot I/OGeneral I/O Bus Power Switch J7 and Delayed Shutdown Logic User Power ConnectionsAppendix B Onboard Computer OptionComputer Power Power-State LogicAppendix C Joystick ConnectorAppendix D SpecificationsControls and Ports Controls IndexSpecifications Warranty & Liabilities Page Concord Street Peterborough, NH 603

2 / PeopleBot specifications

Pioneer 2, also known as PeopleBot, is an advanced mobile robot platform heralded for its versatile design and robust capabilities. Developed by the renowned robotics company Adept Technology, Pioneer 2 has become a staple in the field of mobile robotics, widely utilized for research, education, and practical applications in various industries.

One of the standout features of Pioneer 2 is its exceptional mobility. The robot is equipped with differential steering, allowing it to navigate complex environments with precision. Its compact and sturdy chassis enables it to traverse a variety of terrains, making it suitable for indoor and outdoor exploration. This mobility is further enhanced by an adaptable wheel configuration, allowing for smooth movement even over obstacles.

In terms of technologies, Pioneer 2 is outfitted with an array of sensors that facilitate autonomous navigation and obstacle avoidance. These sensors include laser range finders, infrared sensors, and bumpers, which work in tandem to map the surrounding environment and detect potential hazards. This capability is critical for applications in areas such as warehouse automation or reconnaissance tasks, where safe navigation is paramount.

Pioneer 2 also supports extensive software frameworks, notably the Robot Operating System (ROS). This compatibility allows researchers and developers to leverage a vast library of tools and algorithms, expediting the process of programming and deploying robotic applications. Additionally, the platform can be integrated with various payloads, such as cameras or grippers, expanding its functionality further.

Another significant characteristic of Pioneer 2 is its user-friendly design. The robot comes with an easy-to-use programming interface that empowers users with varying levels of expertise to engage with the technology. Educational institutions often employ Pioneer 2 in robotics courses to provide students with hands-on experience in programming and operating robotic systems.

Powering Pioneer 2 is a rechargeable battery system that ensures extended operation times. This feature is particularly advantageous for fieldwork applications where connectivity to a power source may not be readily available. Importantly, the robot’s modular design facilitates maintenance and upgrades, allowing users to keep their systems current with advances in technology.

Overall, Pioneer 2 (PeopleBot) exemplifies innovation in mobile robotics with its outstanding mobility, advanced sensing technologies, compatibility with leading software frameworks, and a design focused on ease of use and adaptability. It continues to be a preferred choice for researchers, educators, and professionals in the rapidly evolving landscape of robotics.
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