Pioneer Module Mobile manual Gripper Operation and Programming, Gripper Self Test

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Gripper & Experimenter’s Module

4.Gripper Operation and Programming

The Pioneer Gripper comes fully integrated with the robot’s systems and software. The latest versions of PSOS (4.2+) contains support for direct control of the Pioneer’s onboard I/O that run the Gripper functions, as well as state-based

software control routines that manage the Gripper functions for you. In turn, these PSOS functions are supported in Saphira (version 5.3+), the Pioneer Application Interface (PAI), and Pioneer-LOGO. Consult the various Pioneer-related Operation and Software Manuals for more details about PSOS, Saphira, PAI, and P-LOGO.

4.1 Gripper Self Test

Gripper-enabled versions of PSOS come with test routines for all the main functions of the robot. This section describes the Gripper’s self-test. Consult the Pioneer 1 Operations and Software Manual for a detailed description of the location and operation of the various Console function buttons and switches and for how to test the drive and I/O systems, sonars, and processor.

Make sure the Pioneer motors are disengaged, if you perform the Gripper self-test on a table top.

The Gripper self-test happens whenever you turn the Main Power on or press the Reset button. The exercise first drives the Gripper Bar and paddles to their fully down and open state, and then back up to their fully up and closed state.

Always place Pioneer 1 on the floor and have everyone step back

before engaging the motors.

You may also test the Gripper’s open, up, and carry state switches. See the Experimenter’s Module, Digin I/O test mode section in Chapter 4 for details.

4.2 PSOS Server Information Packet

PSOS regularly sends Pioneer server information to a connected client over the serial communication line. Included in that Server Information Packet are the various states and readings from the Gripper and the Experimenter’s Module I/O. A summary of the PSOS Server Information Packet is in the Appendix B. These various readings may be captured and individually read by the client, or you may use the various Saphira, PAI, or P-LOGO functions to manage the packet and read the values for you.

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Contents Gripper Experimenter’s Module Manual Gripper & Experimenter’s Module Contents Maintenance & Repair User Supplied Components IntroductionGripper and Experimenter’s Package Package ComponentsBasic Pioneer Platform Gripper & Experimenter’s ModuleGripper Description Pioneer Gripper side view Pioneer 1 Experimenter’s Module Experimenter’s Module DescriptionAdditional Resources Pioneer Web Software ArchivePioneer and Saphira Newsgroups Pioneer-support@rwii.com SupportInstallation Remove the ConsoleRemove Microcontroller from Console Replace InstallationAttach Gripper/Experimenter’s Module to Pioneer Reattach Microcontroller to ConsoleRemove Nose Connect CablesTest the Assembly Re-Attach the Console CablesRe-Attach the Console Gripper Operation and Programming Gripper Self TestPsos Server Information Packet Gripper I/O Gripper ProgrammingDirect Control via Digital Ports Int sfGripperGetState void SfRobotCom2BytessfCOMDIGOUT, 0x20SfRobotCom2BytessfCOMDIGOUT, 0x3 SfRobotCom2BytessfCOMDIGOUT, 0x2Gripper functions I/O Ports Experimenter’s ModuleExperimenter’s Module To skip Vv.vV BREAK, Boot to r EturnDigin Self-Test DiginProgramming the Digital I/O Ports Programming the A/D PortsProgramming the Speaker Factory Repairs Maintenance & RepairGripper Belt Adjustments Drive LubricationExample C Program Demonstrates Gripper and Speaker Functions Appendix aGripper & Experimenter’s Module Momentary switch, 0 is pressed Gripper & Experimenter’s Module Pioneer Server Information Packet Appendix BComsay IndexMore, Grinnell Gripper & Experimenter’s Module Warranty & Liabilities
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