Pioneer Module Mobile manual Experimenter’s Module Description, Pioneer 1 Experimenter’s Module

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Overview

In transition from the fully down/open position to their up/closed state, the Gripper paddles close together horizontally until they pinch an object or close on themselves. At that point, the entire Bar and Gripper Assembly rises up vertically—with or without an object in its grasp. Under software control, the Gripper then rises to a special “carry” position or all the way to the top of the Gripper case 4 inches (10.5 cm) off the floor to its closed/up position. It is not normally possible to open the Gripper at this state.

The reverse cycle lowers the Gripper Bar and paddles to the bottom of the assembly, whereupon the paddles separate, dropping any contents, and open to their fully down/open position.

Two “bump” switches—one on each paddle tip—sense contact with objects. IR-based “break beams” embedded at the front and back of each paddle sense objects between and within the Gripper’s grasp.

Three other switches sense the Gripper’s paddle positions. One switch inside the Bar is on when the Gripper paddles are in their fully open position. Another at the top of the Bar toggles on when the Gripper reaches its fully up position. A third “carry” switch, located behind the Bar, indicates when the Gripper is between 1.5 and 2 inches (4-5cm) off the floor.

2.3.2 Experimenter’s Module Description

The Experimenter’s Module includes several additional features that users may enable through the Pioneer I/O controls: There are green “directional” LEDs embedded in the tip of each paddle and at the top of each side, facing front on the Gripper’s back plate. On the left side of the Gripper, there is a speaker, an SPST on-off slide switch, a momentary push-button switch, and another LED (amber).

Figure 1-4. Pioneer 1 Experimenter’s Module

Inside and on the Experimenter’s Module is a bank of eight RC-servo controller ports. Layout/solder pads with DC power and I/O port connections supplied by the Pioneer microcontroller also are on the Module card, as well as eight multiplexed analog-to-

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Contents Gripper Experimenter’s Module Manual Gripper & Experimenter’s Module Contents Maintenance & Repair Introduction Gripper and Experimenter’s PackagePackage Components 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 ReplaceReattach Microcontroller to Console Remove NoseConnect Cables 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, 0x20 SfRobotCom2BytessfCOMDIGOUT, 0x3SfRobotCom2BytessfCOMDIGOUT, 0x2 Int sfGripperGetState voidGripper functions Experimenter’s Module I/O PortsExperimenter’s Module BREAK, Boot to r Eturn Digin Self-TestDigin To skip Vv.vVProgramming the Speaker Programming the Digital I/O PortsProgramming the A/D Ports Maintenance & Repair Gripper Belt AdjustmentsDrive Lubrication 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