ActivMedia Robotics
The same P2OS initialization sequence occurs whenever you press the red RESET button. Unlike the original Pioneer 1, you cannot engage the drive motors until after you have connected with a client, except during
RADIO ON
If you own radio modems for
Starting Client-Server Communications
After it starts up, resets, or completes its
To establish a connection between your robot and the Saphira demonstration client, pull down the Connect menu and engage the appropriate serial port: It's the one that you connected to the robot via a direct cable or through modems. With the onboard PC, it is the first (default) serial port, COM1 or /dev/ttyS0. The port name varies by computer platform.13
The Saphira client initiates a connection with your robot server by exchanging three synchronization packets. You may monitor this process on your robot’s LCD and in Saphira’s Colbert interaction window.
As synchronization packets are received |
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and echoed by the communications |
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server, they appear sequentially next to the |
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word SYNC on the top line of the LCD |
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display on the robot. If these numbers do |
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not appear, the communication line is |
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down or the client is malfunctioning. Press |
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RESET to return P2OS to its client- |
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connection waiting state. | Figure 15. Connect Saphira with your |
| ActivMedia robot through a serial port. |
A Successful Connection
After Saphira negotiates a connection successfully, the client requests various P2OS servers to start their activities, including sonar polling, position integration, and so on. The microcontroller sounds an audible connection cue, and you should hear the robot’s sonar ping with a distinctive and repetitive clicking.
Press the white MOTORS pushbutton to enable the drive motors. The associated green LED should stop flashing and light continuously.
The amber SERIAL port indicator LEDs on the robot’s Console should blink to indicate
13 Choose Local Port to connect with the simulator.
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