Pioneer 2 / PeopleBot manual Internal Serial Connectors, User I/O Expansion Port

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Appendix A: Microcontroller Ports and Connections

Table 17. Common serial cable connections to Pioneer 2

Platform & Connector

Pin 3 (Tx)

Pin 5 (Rx)

Pin 9 (Gnd)

Sun Sparcstation DB-25

3

2

7

SGI Irix mini-DIN 8

5

3

4

PC COMn: DB-9

2

3

5

PC COMn: DB-25

3

2

7

Macintosh mini-DIN 8

3

5

4

P2OS operates at the following configuration: 9,600, 19,200 or 38,400 bits per second data rate; eight data bits; one stop bit; no parity or hardware handshaking (DTR).

Internal Serial Connectors

Two 10-pin serial port connectors on the P2OS microcontroller support independent RS- 232 serial communications. The ports also contain switched (RADIO on the Console) 5 and 12 VDC power @ 1.5A for accessory connections, such as a radio modem, radio Ethernet, PTZ robotic camera, or the TCM2 electronic compass.

The Host serial connector (JP8) is the port used by the microcontroller for client-server communications. It shares its transmit (TxD1) and receive (RxD1) lines with the external serial port on the Console. The connector also has three data lines (P3_12, _14, and _15) that are used by the V-2XG compass.

Table 18. P2OS Internal Serial Port Connections ("HOST" JP8)

Pin #

Connection

 

Pin #

Connection

1

Gnd

 

2

P3_12

3

TxD1

 

4

12 VDC (switched)

5

RxD1

 

6

Gnd

7

P3_15

 

8

P3_14

9

Gnd

 

10

5 VDC (switched)

The AUX RS232-compatible serial port (connector JP7) on the Pioneer 2/PeopleBot microcontroller operates independently from the host serial port and is for accessory attachments, such as the PTZ Robotic Camera. Note the additional power connections.

Table 19. Auxiliary Internal Serial Port Connections ("AUX" JP7)

Pin #

Connection

 

Pin #

Connection

1

Gnd

 

2

12 VDC (switched)

3

TxD2

 

4

12 VDC (switched)

5

RxD2

 

6

Gnd

7

No connection

 

8

5 VDC (switched)

9

Gnd

 

10

5 VDC (switched)

User I/O Expansion Port

A 20-pin IDC socket on the P2OS microcontroller provides the following digital, analog, and power ports for user connections:

!8 general-purpose digital input and output ports (ID/OD0-7)

!5 analog-to-digital input ports (AD1-5)

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Contents Pioneer 2 / PeopleBot TM Page Important Safety Instructions Table of Contents Pioneer 2 Operating System Appendix C Basic Components all shipments IntroductionRobot Package Optional Components and Attachments partial listSoftware Additional ResourcesUser-Supplied Components / System Requirements NewsgroupsSupport Support@activmedia.comWhat Is Pioneer? Client SoftwareHttp//robots.activmedia.com ActivMedia Robotics Basic SuiteAria SaphiraPioneer Legacy PioneerPioneer 2 and PeopleBot Page Modes of Operation Specifications & Controls Physical CharacteristicsMain Components Decks and Console Pioneer 2-AT Console and hinged DeckBody, Nose, and Accessory Panels Sonar Arrays with Gain Adjustment Batteries and Power ElectronicsMotors and Position Encoders Controls, Ports, and Indicators Liquid-Crystal Display & Contrast Adjustment Reset and MotorsSerial Safety Watchdogs and Configuration Pioneer 2 Arm-related SIPs and CommandsPeopleBot Sensors and Emergency Stop Quick Start Preparative AssemblySaphira Client Installation Http//robots.activmedia.comSET SAPHIRA=C\Saphira\ver62 Saphira Client Start-UpRobot Cold Start-Up Export DISPLAY=remotecomputer0Starting Client-Server Communications Successful ConnectionOperating the Saphira Demonstration Client ConnectedQuickstart Troubleshooting Quick Start Joydrive and Self-Tests Joystick ConnectionJoydrive Operation Press again to begin tests Engaging Self-TestsMotors Test Left forward 13.2Gripper Sonar TestBumpers CompassUser PWMs Digin and Digout TestAnalog Tests Digin DigoutPioneer 2 Operating System Communication Packet ProtocolPacket Errors Packet Data TypesPacket Checksum Name Data Type Description Client Commands Server Information PacketsBefore Client Connection Client Command Argument Types PtuposProgramming P2OS Saphira Client Command SupportAutoconfiguration Establishing a Client-Server Connection-SYNCMovement Commands Keeping the Beat-PULSEClosing the Connection-CLOSE Pioneer in Motion PID ControlsSonar Position IntegrationEstop and Estall SfRobotComInt44,1CONFIGpac and Config Command Extended PacketsPacket Processing SERAUXpac and Getaux GRIPPERpac and Griprequest ENCODERpac and Encoder CommandPLAYLISTpac and Playlist Command Checksum Integer Computed checksumInput / Output I/O TCM2pac and TCM2 CommandDIGIN, TIMER, and Adsel SfSMessageDigin is %i,sfRobot.diginDigout and Psupos IOpac and IorequestPerformance PeopleBot IRs Installing the P2OS Utilities Updating & Reconfiguring P2OSWhere to Get P2OS Software Updating P2OSDownload Troubleshooting Enable FlashPut Microcontroller into Download Mode Run p2osdlChanging Configuration Parameters Configuring P2OS Operating ParametersSteps 1-3 Preparing for Configuration Run p2oscfEditing P2OS Parameters Saving and Restoring Arm ParametersSave C\p2os\myP2DX Keyword PID Parameters Encoder and RevcountCalibration Tools revcountcal and compasscal Parameter DXe Performance PBCompasscal /dev/ttyS3 Maintenance & Repair Drive LubricationBatteries Alternative Battery Chargers Getting InsideRemoving 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 Appendix B User Power ConnectionsPower Switch J7 and Delayed Shutdown Logic 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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