Pioneer 2 / PeopleBot manual Joydrive and Self-Tests, Joystick Connection, Joydrive Operation

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ActivMedia Robotics

Chapter 5 Joydrive and Self-Tests

Beginning with P2OS version 1.C, all Pioneer 2s and PeopleBots may be tethered and driven manually with a common PC (analog) joystick. In version 1.G and later, you may also use the tethered joystick to manually drive the robot even when it is connected with a client. And P2OS comes with a series of short test routines for your ActivMedia robot's drive motors, sonar, User I/O functions, and accessories.

To run in either joydrive or self-test mode, start up or RESET the robot into its P2OS wait state (LCD "no conn"). You may press the RESET button at any time to disable self-test and joydrive modes. To enable joydrive while connected with a client, you must send the P2OS command number 47 with the integer argument 1. See Chapter 6, Pioneer 2 Operating System, for details.

Joystick Connection

You may attach a common PC joystick to the User I/O’s analog ports and manually drive your robot around without the need for a client connection and incumbent accessories. But it also means that you may drive your Pioneer 2 around without the niceties of a client’s protective behaviors like obstacle avoidance—so be careful. Pioneer 2-ATs and the Performance PeopleBot come standard with a joystick connector and internal wiring. An accessory kit is available to adapt other models. See Appendix C for connection details.

Beware:

The Joystick and the older Gripper interfere at the User I/O port.

Because they share ports on the User I/O connector of the microcontroller, older versions of the Pioneer 2 Gripper interferes with joystick operation.14 One solution is to switch the control lines with a 4PDT toggle switch. See Appendix C for details.

Alternatively, there is an accessory kit available that moves the Gripper controls to the General I/O bus, liberating the User I/O ports for other uses, including attaching a joystick. Visit the Pioneer webpages (http://www.activrobots.com) and contact sales@ activmedia.com for details.

Joydrive Operation

To joydrive your robot when not connected with a client program like Saphira or ARIA, attach a PC joystick to the 15-pin DSUB socket of the robot’s joystick port. Then, after switching the robot’s Main Power ON, press the white MOTORS button once. Listen for a rhythmic, low-tone beeping indicating joydrive mode.

To joydrive while connected with a client, you must have the client send the P2OS command number 47 with an integer argument 1 to enable joydrive. Then, press and release the joystick fire button to enable self-calibration mode. Have your client send the P2OS Joydrive command number 47 with an integer argument of 0 to disable the joystick drive-override.

The joystick is self-calibrating: When you first enable joydrive mode, P2OS detects the joystick’s center and extreme positions and saves these values to balance the driving action. Accordingly, rotate the joystick around its extreme limits and then let the joystick

14Identified as hasgripper = 1 in your robot’s parameters; see Chapter 7, Updating & Reconfiguring P2OS, and the Pioneer 2 Gripper Manual, version 2 or later, for details.

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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 Pioneer LegacyPioneer 2 and PeopleBot Page Modes of Operation Physical Characteristics Specifications & ControlsMain Components Pioneer 2-AT Console and hinged Deck Decks and ConsoleBody, Nose, and Accessory Panels Sonar Arrays with Gain Adjustment Electronics Batteries and PowerMotors and Position Encoders Controls, Ports, and Indicators Reset and Motors Liquid-Crystal Display & Contrast AdjustmentSerial Pioneer 2 Arm-related SIPs and Commands Safety Watchdogs and ConfigurationPeopleBot 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 Joystick Connection Joydrive and Self-TestsJoydrive 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 Data Types Packet ErrorsPacket 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 P2OSKeeping the Beat-PULSE Movement CommandsClosing the Connection-CLOSE PID Controls Pioneer in MotionPosition Integration SonarSfRobotComInt44,1 Estop and EstallExtended Packets CONFIGpac and Config CommandPacket 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 Arm Parameters Saving and RestoringSave C\p2os\myP2DX Keyword Encoder and Revcount PID ParametersParameter DXe Performance PB Calibration Tools revcountcal and compasscalCompasscal /dev/ttyS3 Drive Lubrication Maintenance & RepairBatteries Getting Inside Alternative Battery ChargersRemoving 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

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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