Estop and Estall, SfRobotComInt44,1 | Pioneer 2 / PeopleBot manual

ActivMedia Robotics

example. You may repeat a sonar number and have it ping more than once per sequence.

For example:

sfRobotComStrn(sfCOMPOLLING,"\001\002\001\002",4); /* ping front left only */

Note that if the string is empty, the sonar get turned off, even though you hadn't disabled the sonar with the SONAR command.

BUMP_STALL

Because the robots are programmed to climb, it can take up to a second or more to detect object collisions and subsequent motor stalls. With P2OS version 1.5, we introduced a responsive way to stop your robot within a few milliseconds upon collision with an obstacle: BUMP_STALL. With the robot equipped with forward and/or rear bumpers, you can now program P2OS to immediately stop the robot and notify the client of a stall if any one of the forward or rear bump sensors get triggered.

NOTICE

BUMPSTALL requires supporting bump ring accessories.

Send the BUMP_STALL command (#44) with a integer argument of 0 to disable the behavior (default on startup). Use the argument value 1 to enable BUMP_STALL only when a forward bump sensor gets triggered; 2 for rear-only BUMP_STALL; or 3 for both rear and forward bump ring-activated stalls.

For example, to enable BUMP_STALL when any one of the five contact sensors on a forward bump ring gets triggered:

sfRobotComInt(44,1);

E_STOP and E_STALL

In an emergency, your client may want the robot to stop quickly, not subject to normal deceleration. In that case, send the E_STOP command (#55).

Like BUMP_STALL, use P2OS’ built-in E_STALL feature (version 1_E or later) to simulate a stall when someone presses the Performance PeopleBot’s Emergency STOP button. An integrated switch in the button causes the User I/O analog port #4 on the microcontroller to go high (+5VDC) and thereby notify P2OS of the emergency condition. Accordingly, when enabled, E_STALL will disable the motors in P2OS and notify your Saphira or other software client that the robot has stalled (stall bytes in the standard SIP), thereby avoiding the motor rush that may occur when you reactivate the emergency STOP button.

Since it is normally disabled, you must enable E_STALL through software at least once after a reset or power cycle of the Performance PeopleBot. To enable E_STALL, send the E_STALL P2OS command (#56) with argument = 1; 0 disables E_STALL.

For example, with Saphira:

sfRobotComInt(56,1); /* Enable E_STALL */ sfRobotComInt(56,0); /* Disable E_STALL */

You may also monitor the state of the Emergency STOP button with or without E_STALL as an analog value reported in the standard SIP. You must first request that the value be included in the standard packet since it is not the default analog port. (The current analog port# is encoded in the timer entry.)

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.