Joydrive and Self Tests

handle find its default centered position before starting to drive. Try exiting (reset) and restarting joydrive mode if the joystick doesn’t seem to function well.

The joystick’s “fire” button (button 1) acts as the joydrive “deadman”—press it to start driving; release it to stop the robot’s motors. The robot should drive forward and reverse, and turn left or right in response and at speeds relative to the joystick’s position.

When not connected with a client control program, releasing the joystick fire button stops the robots. However, when connected with a client, the client program resumes automatic operation of your robot’s drive system. So, for example, your robot may speed up or slow down and turn, depending on the actions of your client program.

You may adjust the maximum translational and rotational speeds, even disable joydrive mode, through special P2OS configuration parameters. See Chapter 7, Updating & Reconfiguring P2OS, for details.

Engaging Self-Tests

To enable self-test mode, press the white MOTORS button twice after startup or RESET.15

ATTENTION!

Place your robot on the floor or ground and have everyone step

back before engaging self-tests.

A message should appear in the LCD:

Press again to begin tests 13.2*

And there should be that rhythmic beeping sound coming from the Console speaker to alert you that you may have engaged joydrive and self-test modes inadvertently. If so, press the red RESET button. If you really intended to run the self-tests, move on...

Note that you may interrupt the current self-test and move on to the next one by pressing the white MOTORS button. Or you may discontinue all testing at any time and return to the P2OS servers’ wait state by cycling power or, better, by pressing the red RESET button on your robot’s Console.

Motors Test

The first self-test exercises your ActivMedia robot’s drive motors. During this test, the robot is not at all conscious of bystanders. Please have everyone step back and remove any obstacles from within a diameter of four to five feet around. When ready, press the white MOTORS button.

The motors self-test begins by engaging the left drive wheel, first forward, then in reverse, each to complete a partial turn clockwise, then counterclockwise. Similarly, the right wheel engages, first forward, then reverse to complete partial turns, first counterclockwise, then clockwise.

The Console LCD, although difficult to read while the robot is in motion, displays a message for each test. For example:

Left forward

13.2*

15As described above, the first MOTORS press and release puts the robot into joydrive mode.

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Pioneer 2 / PeopleBot manual Engaging Self-Tests, Motors Test, Press again to begin tests, Left forward 13.2
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2 / PeopleBot specifications

Pioneer 2, also known as PeopleBot, is an advanced mobile robot platform heralded for its versatile design and robust capabilities. Developed by the renowned robotics company Adept Technology, Pioneer 2 has become a staple in the field of mobile robotics, widely utilized for research, education, and practical applications in various industries.

One of the standout features of Pioneer 2 is its exceptional mobility. The robot is equipped with differential steering, allowing it to navigate complex environments with precision. Its compact and sturdy chassis enables it to traverse a variety of terrains, making it suitable for indoor and outdoor exploration. This mobility is further enhanced by an adaptable wheel configuration, allowing for smooth movement even over obstacles.

In terms of technologies, Pioneer 2 is outfitted with an array of sensors that facilitate autonomous navigation and obstacle avoidance. These sensors include laser range finders, infrared sensors, and bumpers, which work in tandem to map the surrounding environment and detect potential hazards. This capability is critical for applications in areas such as warehouse automation or reconnaissance tasks, where safe navigation is paramount.

Pioneer 2 also supports extensive software frameworks, notably the Robot Operating System (ROS). This compatibility allows researchers and developers to leverage a vast library of tools and algorithms, expediting the process of programming and deploying robotic applications. Additionally, the platform can be integrated with various payloads, such as cameras or grippers, expanding its functionality further.

Another significant characteristic of Pioneer 2 is its user-friendly design. The robot comes with an easy-to-use programming interface that empowers users with varying levels of expertise to engage with the technology. Educational institutions often employ Pioneer 2 in robotics courses to provide students with hands-on experience in programming and operating robotic systems.

Powering Pioneer 2 is a rechargeable battery system that ensures extended operation times. This feature is particularly advantageous for fieldwork applications where connectivity to a power source may not be readily available. Importantly, the robot’s modular design facilitates maintenance and upgrades, allowing users to keep their systems current with advances in technology.

Overall, Pioneer 2 (PeopleBot) exemplifies innovation in mobile robotics with its outstanding mobility, advanced sensing technologies, compatibility with leading software frameworks, and a design focused on ease of use and adaptability. It continues to be a preferred choice for researchers, educators, and professionals in the rapidly evolving landscape of robotics.
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