Pioneer 2 / PeopleBot manual Name Data Type Description

Page 37

ActivMedia Robotics

provides very reliable links; radio modem-mediated communication is much less reliable. Accordingly, when designing client applications that may use radio modems, do not expect to receive every information packet intact, nor can you expect the server to accept every command.

Table 4. Standard P2OS Server Information Packet (SIP)

Name

Data Type

Description

Header

integer

Exactly 0xFA, 0xFB

Byte Count

byte

Number of data bytes + 2 (checksum); must be

 

 

less than 201 (0xC9)

Status/Packet

byte = 0x3S; where S =

Motors status

Type

2

Motors stopped

 

3

Robot moving

Xpos

unsigned integer (15 ls-bits)

Wheel-encoder integrated coordinates; platform-

 

 

dependent units; multiply by DistConvFactor‡

Ypos

unsigned integer (15 ls-bits)

to convert to millimeters.

Th pos

signed integer

Orientation in platform-dependent units—

 

 

multiply by AngleConvFactor‡ for degrees.

L vel

signed integer

Wheel velocities (respectively Left and Right)

 

 

in platform-dependent units;

R vel

signed integer

multiply by VelConvFactor‡—currently 1.0 for

 

 

all—to convert into millimeters per second.

Battery

byte

Battery charge in tenths of volts

Stall and

integer

Motor stall and bumper accessory indicators. Bit

Bumpers

 

0 of the lsbyte is the left wheel stall indicator =

 

 

1 if stalled. Bits 1-5 of that same byte

 

 

correspond to the bump switch states (1=on) for

 

 

the rear bumpers accessory. Bit 0 of the msbyte

 

 

is the right wheel stall; the bits 1-5 of that same

 

 

msbyte correspond to the front bumpers switch

 

 

states.

Control

signed integer

Setpoint of the server’s angular position servo—

 

 

multiply by AngleConvFactor‡ for degrees

FLAGS

unsigned integer

b0 – motors flag (1=motors enabled)

(was PTU)

 

b1 – sonar flag: enabled if 1.

Compass

byte

Compass heading in 2-degree units

Sonar

byte

Number of new sonar readings included in

readings

 

information packet; readings follow:

Sonar

byte

Sonar number

number

 

 

Sonar

unsigned integer

Sonar range; multiply by RangeConvFactor‡—

range

 

currently 0.268 for all—for millimeters

…rest of the sonar readings…

 

 

 

 

Timer

unsigned int

Selected analog port number 1-5

Analog

byte

User Analog input (0-255=0-5 VDC) reading on

 

 

selected port

Digin

byte

User I/O digital input

Digout

byte

User I/O digital output

Checksum

integer

Checksum (see previous section)

‡Factors see Table 17 Appendix D and Saphira’s parameter definition file for your robot

Because of the real-time nature of the client/server interaction, we made a conscious decision to provide an unacknowledged packet interface. Re-transmitting server information or command packets would serve no useful purpose, because old data would be virtually useless in maintaining responsive client-server interaction.

31

Page 36 Page 38
Image 37
Page 36 Page 38
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 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 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 Joystick Connection Joydrive and Self-TestsJoydrive 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 Data Types Packet ErrorsPacket 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-SYNCKeeping 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 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 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 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.
Top Page Image Contents