Pioneer 2 / PeopleBot manual Starting Client-Server Communications, Successful Connection

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ActivMedia Robotics

The same P2OS initialization sequence occurs whenever you press the red RESET button. Unlike the original Pioneer 1, you cannot engage the drive motors until after you have connected with a client, except during self-tests.

RADIO ON

If you own radio modems for client-server serial communications, switch RADIO power ON.

Starting Client-Server Communications

After it starts up, resets, or completes its self-tests, your robot’s onboard servers (P2OS) enters disconnect ("noconn") mode—a quiet state in which P2OS awaits connection with a client computer and software like Saphira or ARIA.

To establish a connection between your robot and the Saphira demonstration client, pull down the Connect menu and engage the appropriate serial port: It's the one that you connected to the robot via a direct cable or through modems. With the onboard PC, it is the first (default) serial port, COM1 or /dev/ttyS0. The port name varies by computer platform.13

The Saphira client initiates a connection with your robot server by exchanging three synchronization packets. You may monitor this process on your robot’s LCD and in Saphira’s Colbert interaction window.

As synchronization packets are received
and echoed by the communications
server, they appear sequentially next to the
word SYNC on the top line of the LCD
display on the robot. If these numbers do
not appear, the communication line is
down or the client is malfunctioning. Press
RESET to return P2OS to its client-
connection waiting state.	Figure 15. Connect Saphira with your
	ActivMedia robot through a serial port.

A Successful Connection

After Saphira negotiates a connection successfully, the client requests various P2OS servers to start their activities, including sonar polling, position integration, and so on. The microcontroller sounds an audible connection cue, and you should hear the robot’s sonar ping with a distinctive and repetitive clicking.

Press the white MOTORS pushbutton to enable the drive motors. The associated green LED should stop flashing and light continuously.

The amber SERIAL port indicator LEDs on the robot’s Console should blink to indicate Saphira-client to P2OS-server communications. The Console LCD also should display a message similar to the following:

13 Choose Local Port to connect with the simulator.

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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 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 Commands PeopleBot Sensors and Emergency Stop 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 and Self-Tests Joystick ConnectionJoydrive Operation 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 Errors Packet Data TypesPacket Checksum 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 P2OSMovement 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 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 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 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