Pioneer 2 / PeopleBot manual Serial

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ActivMedia Robotics

The MOTORS button and its associated green LED are under software control. Normally, your ActivMedia robot's motors are disabled when not connected with a client, such as Navigator or Saphira. When first connected with a client,9 the motors remain disabled (LED flashes) until you press and release the MOTORS button. Pressing and releasing the white MOTORS button then enables/disables the motors as long as the robot remains connected with a client.10 The green LED should light continuously when the motors are enabled and blink ON and OFF when disengaged.

When not connected with a client, pressing and releasing the MOTORS button puts your robot into joystick-drive mode. A subsequent press and release of the MOTORS button puts the robot into Self-Test Mode that exercises the robot's drive, controller, and I/O systems. See Chapter 5, Joydrive and Self-Test Modes, for details.

Press and hold the MOTORS button in combination with the RESET button to put the microcontroller into a special system-download mode for reprogramming the onboard FLASH ROM. See Pioneer 2 Operating System and Updating & Reconfiguring P2OS, Chapter 6 and Chapter 7.

SERIAL

Your ActivMedia robot's microcontroller has two serial ports and three connectors. One connector, labeled SERIAL, is a standard 9-pin D-SUB receptacle located on the Console and is for direct RS232-compatible serial data communication between the microcontroller and a client computer. This “Host” serial port shares its three-line transmit, receive, and ground connections with one of the two serial connectors that is inside the robot. See Appendix A for pinouts and cabling connections.

Amber LEDs on each side of the Host serial port light during data-exchange activity transmitted from or received by the microcontroller.

Remove any tether or laptop connection from the Console SERIAL port

when using the optional radio modems.

RADIO

The RADIO slide switch on your robot’s Console controls power to the optional radio modem or Ethernet radio. It does not affect the SERIAL port functions directly, but you must switch the radio modem’s power OFF if you use the Console SERIAL port to connect a piggyback laptop or another external computer to the robot.

The radio modem gets power as well as signals through the internal, shared Host serial port and can interfere with Console SERIAL communications. In some cases, you may have to physically remove the radio serial connection from the microcontroller to eliminate that interference.

FLASH

A slide switch labeled FLASH is recessed into the Console. It write-protects the FLASH ROM-stored P2OS software and your robot's operating parameters (see Updating and Reconfiguring P2OS, Chapter 7). When switched forward, FLASH is enabled for writing. ActivMedia’s P2OS maintenance utilities warn you if FLASH is disabled.

9See the Quick Start chapter for client connection details.

10A P2OS command also lets you toggle the motors under client control.

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Contents Pioneer 2 / PeopleBot TM Page Important Safety Instructions Table of Contents Pioneer 2 Operating System Appendix C Optional Components and Attachments partial list IntroductionRobot Package Basic Components all shipmentsNewsgroups Additional ResourcesUser-Supplied Components / System Requirements SoftwareSupport@activmedia.com SupportClient Software What Is Pioneer?ActivMedia Robotics Basic Suite Http//robots.activmedia.comSaphira AriaPioneer 2 and PeopleBot Pioneer LegacyPioneer Page Modes of Operation Main Components Specifications & ControlsPhysical Characteristics Pioneer 2-AT Console and hinged Deck Decks and ConsoleBody, Nose, and Accessory Panels Sonar Arrays with Gain Adjustment Motors and Position Encoders Batteries and PowerElectronics Controls, Ports, and Indicators Reset and Motors Liquid-Crystal Display & Contrast AdjustmentSerial PeopleBot Sensors and Emergency Stop Safety Watchdogs and ConfigurationPioneer 2 Arm-related SIPs and Commands Http//robots.activmedia.com Preparative AssemblySaphira Client Installation Quick StartExport DISPLAY=remotecomputer0 Saphira Client Start-UpRobot Cold Start-Up SET SAPHIRA=C\Saphira\ver62Successful Connection Starting Client-Server CommunicationsConnected Operating the Saphira Demonstration ClientQuickstart Troubleshooting Quick Start Joydrive Operation Joydrive and Self-TestsJoystick Connection Left forward 13.2 Engaging Self-TestsMotors Test Press again to begin testsCompass Sonar TestBumpers GripperDigin Digout Digin and Digout TestAnalog Tests User PWMsCommunication Packet Protocol Pioneer 2 Operating SystemPacket Checksum Packet ErrorsPacket Data Types Name Data Type Description Server Information Packets Client CommandsBefore Client Connection Ptupos Client Command Argument TypesEstablishing a Client-Server Connection-SYNC Saphira Client Command SupportAutoconfiguration Programming P2OSClosing the Connection-CLOSE Movement CommandsKeeping the Beat-PULSE PID Controls Pioneer in MotionPosition Integration SonarSfRobotComInt44,1 Estop and EstallPacket Processing CONFIGpac and Config CommandExtended Packets SERAUXpac and Getaux Checksum Integer Computed checksum ENCODERpac and Encoder CommandPLAYLISTpac and Playlist Command GRIPPERpac and GriprequestSfSMessageDigin is %i,sfRobot.digin TCM2pac and TCM2 CommandDIGIN, TIMER, and Adsel Input / Output I/OIOpac and Iorequest Digout and PsuposPerformance PeopleBot IRs Updating P2OS Updating & Reconfiguring P2OSWhere to Get P2OS Software Installing the P2OS UtilitiesRun p2osdl Enable FlashPut Microcontroller into Download Mode Download TroubleshootingRun p2oscf Configuring P2OS Operating ParametersSteps 1-3 Preparing for Configuration Changing Configuration ParametersEditing P2OS Parameters Save C\p2os\myP2DX Saving and RestoringArm Parameters Keyword Encoder and Revcount PID ParametersParameter DXe Performance PB Calibration Tools revcountcal and compasscalCompasscal /dev/ttyS3 Batteries Maintenance & RepairDrive Lubrication Removing the Nose Alternative Battery ChargersGetting Inside 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 Onboard Computer Option User Power ConnectionsPower Switch J7 and Delayed Shutdown Logic Appendix BComputer 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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