Pioneer 2 / PeopleBot manual Appendix C, Joystick Connector

Page 71

ActivMedia Robotics

Appendix C

Joystick Connector

Use a 20-wire IDC-terminated ribbon cable to attach the 15-pin joystick connector to the User I/O port on the P2OS microcontroller. Both require P2OS version 1.c or later.

Figure 30. Standard joyport for manual drive of a Pioneer 2 or PeopleBot Mobile Robot

Figure 31. Joyport with signal switch for sharing User I/O ports with other accessories,

such as the older style Gripper.

65

Page 70 Page 72
Image 71
Page 70 Page 72
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 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 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 Operation Joydrive and Self-TestsJoystick Connection 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 Checksum Packet ErrorsPacket Data Types 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 P2OSClosing 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 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 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 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.
Top Page Image Contents