Pioneer 2 / PeopleBot manual Sonar Test, Bumpers, Gripper, Compass

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ActivMedia Robotics

Use the drive test to ensure that the drive motors are working and that the encoder cables are in their correct sockets on the motor-power board. They’re the same size and have the same number of pins, so they can be mistakenly switched, right for left or left for right. In that erroneous case, the robot will spin madly in place.

Sonar Test

When the motors test completes, self-tests automatically continue to the sonar tests.

You should hear the distinctive clicking sound as each sonar "pings", one from each of two arrays simultaneously, each in order from left to right in front and right to left in the rear. The LCD displays, in hexadecimal notation, the sonar number and the number of microseconds it takes to receive an echo from a nearby object, such as your hand.

For example, this might be the LCD message if you held your hand a few inches from the center sonar during its test period:

FS:#3 034A

RS:#B 7D00 12.4V*

Absent echoes return at the maximum time of 7D00.

Press the white MOTORS button to individually test each sonar in the arrays.16 If you have added sonar such as with a PeopleBot, a second set of sonar tests automatically commence.

Bumpers

The next self-test displays the states of the inputs from the front and rear bumpers available for Pioneer 2 and PeopleBot robots. The state of each bump switch is mapped into a series of eight LCD display digits. The five switches in each bumper—front and rear—are related to the digits one through five, left to right, on the LCD. For instance in the example below, the front bumpers 1 and 5 are pressed; the rest are OFF, whereas in the rear bumper, the second and third bumps are ON.

Front 00100010

Rear 00001100

The first two and last display digits are not connected and may toggle between 0 and 1. Likewise, without an attached bumper, the readings may vary (usually all "0"s).

Press the white MOTORS button to proceed to the next test.

Gripper

Those of you fortunate enough to own a Gripper accessory for your Pioneer 2 or PeopleBot automatically get a self-test for the accessory. See the Pioneer 2 Gripper Manual for details.

Compass

If you own a TCM2 or V-2XG compass module, this self-test displays its compass heading in the LCD. See their respective manuals for details.

16Sonar tests automatically proceeded in P2OS versions before 1.F.

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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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