Pioneer Module Mobile manual Re-Attach the Console Cables, Test the Assembly

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Installation

3.1.8 Step 8 Re-Attach the Console Cables

Carefully handling the Console top plate with attached microcontroller by its edges, reattach the various cables, front and back. Although the order is not critical, for convenience we recommend attaching the front cables firstthe sonar and drive (left and right) cables.

Then, to the sockets on the rear of the microcontroller, attach the 4-pin serial connector, the new 16-pin Nose I/O and 26-pin General I/O connectors, and finally the new power connector to their respective sockets.

3.1.9 Step 9 Re-Attach the Console

Align the Console top-plate with microcontroller on top the Console, and using the tools and the screws from Step 2, reattach it to the robot body. Reattach the camera to the front of the Console as well, if it is with your robot. Then plug the camera power and signal cables back into their respective sockets on the Console back plate, and screw in the antenna through the hole in the Console top plate and into the radio modem beneath.

3.1.10 Step 10 Test the Assembly

Time to switch on the Pioneer’s Main Power and sniff for blue smoke. If sparks don’t fly and smoke is absent, the Pioneer will automatically exercise it’s new Gripper and finish with three loud and firm beeps through the newly attached speaker—not that weak, sniveling old “beep, beep” of the Gripper-less Pioneer, mind you, so keep sensitive babies and weaklings clear.

You’ve completed assembly and now are ready to run your Pioneer’s brand new gadgets. And for your troubles, you get two loose screws left over (they are the two round headed ones that came out of the bottom of the Nose).

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Contents Gripper Experimenter’s Module Manual Gripper & Experimenter’s Module Contents Maintenance & Repair Package Components IntroductionGripper and Experimenter’s Package User Supplied ComponentsGripper Description Basic Pioneer PlatformGripper & Experimenter’s Module Pioneer Gripper side view Experimenter’s Module Description Pioneer 1 Experimenter’s ModulePioneer and Saphira Newsgroups Additional ResourcesPioneer Web Software Archive Support Pioneer-support@rwii.comRemove Microcontroller from Console InstallationRemove the Console Installation ReplaceConnect Cables Reattach Microcontroller to ConsoleRemove Nose Attach Gripper/Experimenter’s Module to PioneerRe-Attach the Console Test the AssemblyRe-Attach the Console Cables Psos Server Information Packet Gripper Operation and ProgrammingGripper Self Test Direct Control via Digital Ports Gripper I/OGripper Programming SfRobotCom2BytessfCOMDIGOUT, 0x2 SfRobotCom2BytessfCOMDIGOUT, 0x20SfRobotCom2BytessfCOMDIGOUT, 0x3 Int sfGripperGetState voidGripper functions Experimenter’s Module I/O PortsExperimenter’s Module Digin BREAK, Boot to r EturnDigin Self-Test To skip Vv.vVProgramming the Speaker Programming the Digital I/O PortsProgramming the A/D Ports Drive Lubrication Maintenance & RepairGripper Belt Adjustments Factory RepairsAppendix a Example C Program Demonstrates Gripper and Speaker FunctionsGripper & Experimenter’s Module Momentary switch, 0 is pressed Gripper & Experimenter’s Module Appendix B Pioneer Server Information PacketIndex ComsayMore, Grinnell Gripper & Experimenter’s Module Warranty & Liabilities