Pioneer 2 / PeopleBot manual Ptupos, Client Command Argument Types

Page 40

Pioneer 2 Operating System

 

 

 

 

 

 

IOREQUEST

40

none

Request 1 or a continuous stream (>1) or

–

1.E

 

 

 

tell to stop sending (0) IO SIPs

 

 

PTUPOS

41

int

msb is the port number (1-4) and lsb is the

4.5

1.2

 

 

 

pulse width in 100µsec units PSOS, 10µsec

 

-

 

 

 

units P2OS. Version 1.J uses RC-servo

 

1.J

 

 

 

40ms duty cycle.

 

 

TTY2

42

string

Send string argument to serial device

4.2

1.0

 

 

 

connected to AUX port on microcontroller

 

 

GETAUX

43

int

Request to retrieve 1-200 bytes from the

 

1.4

 

 

 

aux serial channel; 0 flushes the aux serial

–

 

 

 

 

input buffer.

 

 

BUMP_STALL

44

int

Stop and register a stall if front (1), rear (2)

–

1.5

 

 

 

or either (3) bump-ring contacted. Off

 

 

 

 

 

(default) is 0.

 

 

TCM2

45

int

TCM2 Module commands; see TCM2

–

1.6

 

 

 

Manual for details.

 

 

DOCK

46

int

Default is 0=OFF; 1=enable docking

 

 

 

 

 

signals; 2=enable docking signals and stop

–

1.C

 

 

 

the robot when docking power sensed.

 

 

JOYDRIVE

47

int

Default is O=OFF; 1=allow joystick drive

–

1.G

 

 

 

from hardware port

 

 

E_STOP

55

none

Emergency stop, overrides deceleration

–

1.8

 

 

 

 

 

 

E_STALL

56

int

Emergency stop button causes stall on

–

1.E

 

 

 

PeopleBot only

 

 

STEP

64

none

Single-step mode (simulator only)

3.x

1.0

 

 

 

 

 

 

ARM

70

 

Please consult the Pioneer 2 Arm Manual

 

1.H

 

–

–

for details.

–

 

 

80

 

 

 

 

ROTKP

82

int

Change rotation’s proportional drive factor

–

1.J

 

 

 

 

 

 

ROTKV

83

int

Change rotation’s differential drive factor

–

1.J

ROTKI

84

int

Change rotation’s integral drive factor

–

1.J

TRANSKP

85

int

Change translation proportional drive factor

–

 

TRANSKV

86

int

Change translation differential drive factor

–

 

TRANSKI

87

int

Change translation integral drive factor

–

 

PLAYLIST

90

int

Must be 0; request AmigoBot sound playlist

–

1.E

The client must send a command packet at least once every watchdog (default is two) seconds (see next chapter). Otherwise, the robot’s onboard drives automatically stop, but will resume again on receipt of a client packet. To maintain the watchdog, Saphira, for instance, sends the action-less PULSE command in the absence of other client commands.

A P2OS command is comprised of a one-byte command number optionally followed by, if required by the command, a one-byte description of the argument type and the argument value.

Client Command Argument Types

There are four types of P2OS client command arguments: none, unsigned integers two bytes long, signed integers two bytes long, and NULL-terminated strings consisting of as many as 196 characters.

The byte order, where applicable, is least-significant byte first. Negative integers are transmitted as their absolute value (unlike information packets, which use sign extension

34

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Contents Pioneer 2 / PeopleBot TM Page Important Safety Instructions Table of Contents Pioneer 2 Operating System Appendix C Introduction Robot PackageBasic Components all shipments Optional Components and Attachments partial listAdditional Resources User-Supplied Components / System RequirementsSoftware NewsgroupsSupport Support@activmedia.comWhat Is Pioneer? Client SoftwareHttp//robots.activmedia.com ActivMedia Robotics Basic SuiteAria SaphiraPioneer Pioneer LegacyPioneer 2 and PeopleBot Page Modes of Operation Physical Characteristics Specifications & ControlsMain Components Decks and Console Pioneer 2-AT Console and hinged DeckBody, Nose, and Accessory Panels Sonar Arrays with Gain Adjustment Electronics Batteries and PowerMotors and Position Encoders Controls, Ports, and Indicators Liquid-Crystal Display & Contrast Adjustment Reset and MotorsSerial Pioneer 2 Arm-related SIPs and Commands Safety Watchdogs and ConfigurationPeopleBot Sensors and Emergency Stop Preparative Assembly Saphira Client InstallationQuick Start Http//robots.activmedia.comSaphira Client Start-Up Robot Cold Start-UpSET SAPHIRA=C\Saphira\ver62 Export DISPLAY=remotecomputer0Starting Client-Server Communications Successful ConnectionOperating the Saphira Demonstration Client ConnectedQuickstart Troubleshooting Quick Start Joystick Connection Joydrive and Self-TestsJoydrive Operation Engaging Self-Tests Motors TestPress again to begin tests Left forward 13.2Sonar Test BumpersGripper CompassDigin and Digout Test Analog TestsUser PWMs Digin DigoutPioneer 2 Operating System Communication Packet ProtocolPacket Data Types Packet ErrorsPacket Checksum Name Data Type Description Client Commands Server Information PacketsBefore Client Connection Client Command Argument Types PtuposSaphira Client Command Support AutoconfigurationProgramming P2OS Establishing a Client-Server Connection-SYNCKeeping the Beat-PULSE Movement CommandsClosing the Connection-CLOSE Pioneer in Motion PID ControlsSonar Position IntegrationEstop and Estall SfRobotComInt44,1Extended Packets CONFIGpac and Config CommandPacket Processing SERAUXpac and Getaux ENCODERpac and Encoder Command PLAYLISTpac and Playlist CommandGRIPPERpac and Griprequest Checksum Integer Computed checksumTCM2pac and TCM2 Command DIGIN, TIMER, and AdselInput / Output I/O SfSMessageDigin is %i,sfRobot.diginDigout and Psupos IOpac and IorequestPerformance PeopleBot IRs Updating & Reconfiguring P2OS Where to Get P2OS SoftwareInstalling the P2OS Utilities Updating P2OSEnable Flash Put Microcontroller into Download ModeDownload Troubleshooting Run p2osdlConfiguring P2OS Operating Parameters Steps 1-3 Preparing for ConfigurationChanging Configuration Parameters Run p2oscfEditing P2OS Parameters Arm Parameters Saving and RestoringSave C\p2os\myP2DX Keyword PID Parameters Encoder and RevcountCalibration Tools revcountcal and compasscal Parameter DXe Performance PBCompasscal /dev/ttyS3 Drive Lubrication Maintenance & RepairBatteries Getting Inside Alternative Battery ChargersRemoving the Nose Opening the Deck Remove indicated screws to remove Original Pioneer 2-AT DeckFactory Repairs Support@activmedia.com 603 924-2184 fax 603 924-9100 voiceAppendix a C166 Controller Ports & ConnectionsInternal Serial Connectors User I/O Expansion PortPerformance PeopleBot I/O Pin Label UseGeneral I/O Bus User Power Connections Power Switch J7 and Delayed Shutdown LogicAppendix B Onboard Computer OptionPower-State Logic Computer PowerJoystick Connector Appendix CSpecifications Appendix DControls and Ports Index ControlsSpecifications 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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