Pioneer 2 / PeopleBot Saphira Client Start-Up, Robot Cold Start-Up, SET SAPHIRA=C\Saphira\ver62

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Quick Start

For instance, the Windows© 9x/ME version is a self-extracting WinZip© archive. Simply double-click its .EXE icon and follow the extraction program’s instructions.

The distribution archive decompresses into a Saphira\verxx directory of files.12

Windows© 9x/ME users also need to set an environment variable in the C: (boot drive) autoexec.bat file. Load the file with a simple text processor like WordPad and add the line:

SET SAPHIRA=C:\Saphira\ver62

which is the default installation path to Saphira’s top-level directory. Then reboot.

Linux users should be sure they have permission to read/write through their PC’s serial port that connects with the robot. The default is /dev/ttyS0. Saphira also requires X- Window. If you have an onboard PC with Ethernet radio, export the X-Windows display if you are operating the Saphira GUI from a remote X-terminal over the network.

With bash, for example:

%export DISPLAY=remote_computer:0

where remote_computer is the known hostname (/etc/hosts or DNS entry) or IP address of the remote X-terminal.

Saphira Client Start-Up

To start the Saphira client demonstration program, first locate its executable: It’s inside the bin directory that is in the top-level Saphira directory—typically C:\Saphira\verxx\bin or /usr/local/saphira/verxx/bin. The demonstration program is named saphira or saphira.exe.

For instance, with the mouse double-click the saphira.exe icon inside C:\Saphira\ver62\bin on your Windows© 9x/ME desktop. On your UNIX or Linux machine via an X-Windows terminal, navigate (cd) to the /usr/local/Saphira/ ver62/bin directory and type saphira, or ./saphira to execute the Saphira client software there. We set the ${PATH} for the onboard, Linux-based PC systems that we install for you, so that you need only type saphira in an X-Window terminal to execute the demonstration program.

If the demonstration program is installed and executed properly, a Saphira main window should open and appear on your graphics screen. Otherwise, diagnostic error dialogs will inform you of the problem. See Quickstart Troubleshooting below for additional tips.

Robot Cold Start-Up

Position your ActivMedia robot on the floor or ground in an open space. Slide the Main Power switch up to ON. The red power indicator LED beneath the FLASH switch on the Console should light. After a short P2OS initialization phase, the LCD on the control panel then displays the current status, the Host serial port baud rate, the current P2OS version number, and the battery charge, in volts. For example,

no conn 19.2 kB P2OS v1.F 13.8*

The "heartbeat" asterisk character following the battery voltage should be flashing ON and OFF.

12Current verxx is ver62.

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Contents Pioneer 2 / PeopleBot TM Page Important Safety Instructions Table of Contents Pioneer 2 Operating System Appendix C Basic Components all shipments IntroductionRobot Package Optional Components and Attachments partial listSoftware Additional ResourcesUser-Supplied Components / System Requirements NewsgroupsSupport Support@activmedia.comWhat Is Pioneer? Client SoftwareHttp//robots.activmedia.com ActivMedia Robotics Basic SuiteAria SaphiraPioneer 2 and PeopleBot Pioneer LegacyPioneer Page Modes of Operation Main Components Specifications & ControlsPhysical Characteristics Decks and Console Pioneer 2-AT Console and hinged DeckBody, Nose, and Accessory Panels Sonar Arrays with Gain Adjustment Motors and Position Encoders Batteries and PowerElectronics Controls, Ports, and Indicators Liquid-Crystal Display & Contrast Adjustment Reset and MotorsSerial PeopleBot Sensors and Emergency Stop Safety Watchdogs and ConfigurationPioneer 2 Arm-related SIPs and Commands Quick Start Preparative AssemblySaphira Client Installation Http//robots.activmedia.comSET SAPHIRA=C\Saphira\ver62 Saphira Client Start-UpRobot Cold Start-Up Export DISPLAY=remotecomputer0Starting Client-Server Communications Successful ConnectionOperating the Saphira Demonstration Client ConnectedQuickstart Troubleshooting Quick Start Joydrive Operation Joydrive and Self-TestsJoystick Connection Press again to begin tests Engaging Self-TestsMotors Test Left forward 13.2Gripper Sonar TestBumpers CompassUser PWMs Digin and Digout TestAnalog Tests Digin DigoutPioneer 2 Operating System Communication Packet ProtocolPacket Checksum Packet ErrorsPacket Data Types Name Data Type Description Client Commands Server Information PacketsBefore Client Connection Client Command Argument Types PtuposProgramming P2OS Saphira Client Command SupportAutoconfiguration Establishing a Client-Server Connection-SYNCClosing the Connection-CLOSE Movement CommandsKeeping the Beat-PULSE Pioneer in Motion PID ControlsSonar Position IntegrationEstop and Estall SfRobotComInt44,1Packet Processing CONFIGpac and Config CommandExtended Packets SERAUXpac and Getaux GRIPPERpac and Griprequest ENCODERpac and Encoder CommandPLAYLISTpac and Playlist Command Checksum Integer Computed checksumInput / Output I/O TCM2pac and TCM2 CommandDIGIN, TIMER, and Adsel SfSMessageDigin is %i,sfRobot.diginDigout and Psupos IOpac and IorequestPerformance PeopleBot IRs Installing the P2OS Utilities Updating & Reconfiguring P2OSWhere to Get P2OS Software Updating P2OSDownload Troubleshooting Enable FlashPut Microcontroller into Download Mode Run p2osdlChanging Configuration Parameters Configuring P2OS Operating ParametersSteps 1-3 Preparing for Configuration Run p2oscfEditing P2OS Parameters Save C\p2os\myP2DX Saving and RestoringArm Parameters Keyword PID Parameters Encoder and RevcountCalibration Tools revcountcal and compasscal Parameter DXe Performance PBCompasscal /dev/ttyS3 Batteries Maintenance & RepairDrive Lubrication Removing the Nose Alternative Battery ChargersGetting Inside Opening the Deck Remove indicated screws to remove Original Pioneer 2-AT DeckFactory Repairs Support@activmedia.com 603 924-2184 fax 603 924-9100 voiceAppendix a C166 Controller Ports & ConnectionsInternal Serial Connectors User I/O Expansion PortPerformance PeopleBot I/O Pin Label UseGeneral I/O Bus Appendix B User Power ConnectionsPower Switch J7 and Delayed Shutdown Logic Onboard Computer OptionPower-State Logic Computer PowerJoystick Connector Appendix CSpecifications Appendix DControls and Ports Index ControlsSpecifications 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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