Pioneer 2 / PeopleBot manual Appendix a, C166 Controller Ports & Connections

Page 65

ActivMedia Robotics

Appendix A

C166 Controller Ports & Connections

This Appendix contains pinout and electrical specifications for the external and internal ports and connectors on the Pioneer 2/PeopleBot microcontroller board. These include an external (Host) serial port for P2OS-to-client connections; two internal serial ports for Host and auxiliary (AUX) communications, each with switched five and 12 VDC power; an expansion bus (General I/O); and a discrete connector for custom User I/O.

Note that all the internal connectors (IDC sockets) are numbered odd pins on top and even pins on the bottom, from right to left, relative to the key (Figure 27):

 

 

 

 

 

 

 

13

11

9

7

5

3

1

14

12

10

8

6

4

2

Figure 27. Serial port IDC connector pins

Figure 28. Pioneer 2/PeopleBot microcontroller ports and controls locations

Console Serial Port

Use the Console DSUB-9 serial port connector for client connections to the P2OS servers and for P2OS downloads. Only three pins are active: RS232-compatible pins 2 (TxD1), 3 (RxD1), and 5 (signal ground).

Table 17 lists the cable connections for various host computers to this external serial port. Most direct serial connections use a simple, straight-through cable, such as the one for a common PC. The communication lines are shared with those on the internal P2OS serial port (see below).

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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 2 and PeopleBot Pioneer LegacyPioneer Page Modes of Operation Main Components Specifications & ControlsPhysical Characteristics Pioneer 2-AT Console and hinged Deck Decks and ConsoleBody, Nose, and Accessory Panels Sonar Arrays with Gain Adjustment Motors and Position Encoders Batteries and PowerElectronics Controls, Ports, and Indicators Reset and Motors Liquid-Crystal Display & Contrast AdjustmentSerial PeopleBot Sensors and Emergency Stop Safety Watchdogs and ConfigurationPioneer 2 Arm-related SIPs and Commands 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 Operation Joydrive and Self-TestsJoystick Connection 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 Checksum Packet ErrorsPacket Data Types 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-SYNCClosing the Connection-CLOSE Movement CommandsKeeping the Beat-PULSE PID Controls Pioneer in MotionPosition Integration SonarSfRobotComInt44,1 Estop and EstallPacket Processing CONFIGpac and Config CommandExtended Packets 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 Save C\p2os\myP2DX Saving and RestoringArm Parameters Keyword Encoder and Revcount PID ParametersParameter DXe Performance PB Calibration Tools revcountcal and compasscalCompasscal /dev/ttyS3 Batteries Maintenance & RepairDrive Lubrication Removing the Nose Alternative Battery ChargersGetting Inside 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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