Pioneer Module Mobile Digin Self-Test, BREAK, Boot to r Eturn, To skip Vv.vV, Digout Self-Test

Gripper & Experimenter’s Module

5.1.1 Digin: Self-Test

You may investigate the operation of the digital input and output ports through their PSOS self-test modes.

After starting up your Pioneer, press the black Function button once to enable self-test mode. The LCD message should now display:

BREAK, Boot to r

eturn vv.vV*

indicating that Pioneer has entered self-test mode. (Note that the voltage V reading will vary.) You may press the Reset button at any time to disable the self-test, and you may press the Function button to skip any of the self-tests.

Skip to the digital input test by pressing the Function button 3 more times. The LCD should now read:

Digin:	E6 BOOT
to skip	vv.vV*

The E6 may vary—it is the hexadecimal representation of the various digital input ports, described in Table 4-1 and in the Gripper Chapter 4. Decode that indicator according to the bit rule in Table 4-2.

For example, if you press the user push-button switch, the E6 value would change to A6. See why?

Table 4-2. Bits and meanings of Digin: self-test value:

bit	7	6	5	4	3	2	1	0
1=	user	user	paddles	outer b-b	inner b-b	paddles	gripper	gripper
	slide-sw	push-	bump	clear	clear	not	below/	not at
	up	button	free			open	above	top
		released				wide	4-5cm
0=	user	user	paddles	outer b-b	inner b-b	paddles	gripper	gripper
	slide-sw	push-	bump	obstruc-	obstruc-	wide	up 4-	at top
	down	button	pressed	ted	ted	open	5cm
		pressed					gripper
							at top

5.1.2 Digout: Self-Test

Press the black Function button on the Console once more to set the Pioneer into a self-test of its digital outputs. The test is pretty braindead: It simply toggles the odd and even output ports alternately off and on: AA, 55, AA, 55, and so on. Watch the LEDs flash on and off, the speaker click, and the Gripper twitch.

17