Pioneer 2 / PeopleBot manual Before Client Connection

Page 39

ActivMedia Robotics

Table 6. P2OS/PSOS command set

Command

#

Args

Description

PSOS

P2OS

 

 

 

Before Client Connection

 

 

SYNC0

0

none

Start connection; P2OS echoes

3.x

1.0

SYNC1

1

none

synchronization commands back to

 

 

SYNC2

2

none

client.

 

 

 

 

 

After Established Connection

 

 

PULSE

0

none

Client pulse resets server watchdog

3.x

1.0

OPEN

1

none

Starts the controller

3.x

1.0

CLOSE

2

none

Close server and client connection

3.x

1.0

POLLING

3

string

Set sonar polling sequence

3.9

1.0

ENABLE

4

int

Enable=1; disable=0 the motors

–

1.0

SETA

5

signed int

Resets translational acceleration parameter,

 

1.0

 

 

 

if positive, or deceleration, if negative; in

–

 

 

 

 

millimeters per second2

 

 

SETV

6

int

Reset maximum translational velocity, in

4.8

1.0

 

 

 

millimeters per second

 

 

SETO

7

none

Resets server to 0,0,0 origin

3.x

1.0

MOVE

8

signed int

Translation distance to move in mm

 

 

SETRV

10

int

Resets maximum rotational velocity in

4.8

1.0

 

 

 

degrees per second

 

 

VEL

11

signed int

Move forward (+) or reverse (-) at

3.x

1.0

 

 

 

millimeters per second

 

 

HEAD

12

signed int

Turn to absolute heading (+) =

4.2

1.0

 

 

 

counterclockwise; ± degrees

 

 

DHEAD

13

signed int

Turn relative to current heading (+) =

3.x

1.0

 

 

 

counterclockwise; ± degrees

 

 

SAY

15

string

As many as 20 pairs of duration (20 ms

4.2

1.0

 

 

 

increments) /tone (half-cycle) pairs; int is

 

 

 

 

 

string length

 

 

CONFIG

18

int

1=Request configuration SIP

–

1.4

ENCODER

19

int

Request 1 or continuous stream (>1), or tell

–

1.4

 

 

 

to stop sending (0) Encoder SIPs

 

 

RVEL

21

signed int

Rotate at ± degrees per second

4.2

1.0

DCHEAD

22

signed int

Heading setpoint relative to last setpoint;

 

 

 

 

 

± degrees; (+) = counterclockwise

 

 

SETRA

23

signed int

Sets rotational (+)acceleration or

 

1.0

 

 

 

(-)deceleration, in mm/sec/sec

–

 

SONAR

28

int

1=Enable; 0=disable all the sonar

–

1.0

 

 

 

 

 

 

STOP

29

none

Stops robot (motors remain enabled)

–

1.0

DIGOUT

30

int

Msbits is a byte mask that selects output

4.2

1.2

 

 

 

port(s) for changes; lsbits set (1) or reset (0)

 

 

 

 

 

the selected port.

 

 

VEL2

32

signed int

Independent wheel velocities; lsb=right

4.1

1.0

 

 

 

wheel; msb=left wheel; PSOS is in

 

 

 

 

 

±4mm/sec; P2OS in ±2cm/sec increments

 

 

GRIPPER

33

int

Pioneer 1 and Pioneer 2 Gripper server

4.0

1.3

 

 

 

command. See the Pioneer Gripper manuals

 

 

 

 

 

for details.

 

 

ADSEL

35

int

Select the A/D port number for analog value

 

1.2

 

 

 

in SIP. Selected port reported in SIP Timer

–

 

 

 

 

value.

 

 

GRIPPERVAL

36

int

Pioneer 2 gripper server value. See P2

–

 

 

 

 

Gripper Manual for details.

 

 

GRIPREQUEST

37

none

Request 1 or continuous stream (>1), or tell

–

1.E

 

 

 

to stop sending (0) Gripper SIPs

 

 

33

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Page 38 Page 40
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 CommandsPeopleBot 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

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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