Pioneer Module Mobile manual Gripper & Experimenter’s Module

Page 2

Gripper & Experimenter’s Module

Copyright 1997, ActivMedia, Inc. All rights reserved.

Under international copyright laws, this manual or any portion of it may not be copied or in any way duplicated without the expressed written consent of ActivMedia, Inc.

The Saphira libraries and Pioneer software on disk and on the Pioneer server EPROM that accompany the robot and accessories and which are available for network download by Pioneer 1 customers are solely owned and copyrighted by Kurt Konolidge and SRI International. Pioneer 1 developers and users are authorized by revocable license to develop and operate custom software for personal, research, and educational use only. Duplication, distribution, reverse-engineering, or commercial application of the Pioneer software and hardware without the expressed written consent of SRI International and ActivMedia, Inc. is explicitly forbidden.

Real World Interface (RWI), Inc. manufactures the Pioneer 1 Mobile Robot and Gripper/Experimenter’s Module accessories. The various names and logos for products used in this manual are registered trademarks or trademarks of their respective companies. Mention of any third-party hardware or software constitutes neither an endorsement nor a recommendation.

ii

Image 2

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