CHAPTER 1 INTRODUCTION................................................................................................................. 1
ROBOT PACKAGE........................................................................................................................................ 1
Basic Components (all shipments)..........................................................................................................1
Optional Components and Attachments (partial list)............................................................................. 1
User-Supplied Components / System Requirements............................................................................... 2
ADDITIONAL RESOURCES............................................................................................................................ 2
Software.................................................................................................................................................. 2
Newsgroups............................................................................................................................................ 2
Support................................................................................................................................................... 3
CHAPTER 2 WHAT IS PIONEER?.......................................................................................................... 4
CLIENT SOFTWARE...................................................................................................................................... 4
ActivMedia Robotics Basic Suite...................................................................................... 5
ARIA....................................................................................................................................................... 6
Saphira................................................................................................................................................... 6
THE PIONEER LEGACY.................................................................................................................................7
Pioneer 1................................................................................................................................................ 7
Pioneer 2 and PeopleBot........................................................................................................................ 7
MODES OF OPERATION................................................................................................................................9
CHAPTER 3 SPECIFICATIONS & CONTROLS................................................................................. 10
PHYSICAL CHARACTERISTICS.................................................................................................................... 10
MAIN COMPONENTS.................................................................................................................................. 10
Deck(s) and Console.............................................................................................................................11
Body, Nose, and Accessory Panels....................................................................................................... 12
Sonar Arrays with Gain Adjustment..................................................................................................... 13
Motors and Position Encoders............................................................................................................. 14
Batteries and Power............................................................................................................................. 14
ELECTRONICS............................................................................................................................................ 14
Motor-Power Board............................................................................................................................. 15
Microcontroller.................................................................................................................................... 15
Sonar Boards........................................................................................................................................ 15
CONTROLS, PORTS, AND INDICATORS....................................................................................................... 15
Main Power, Fuse, and Indicator......................................................................................................... 15
Recharge/Power Port........................................................................................................................... 15
Liquid-Crystal Display & Contrast Adjustment................................................................................... 16
RESET and MOTORS........................................................................................................................... 16
SERIAL................................................................................................................................................. 17
RADIO.................................................................................................................................................. 17
FLASH.................................................................................................................................................. 17
PEOPLEBOT SENSORS AND EMERGENCY STOP.........................................................................................18
Pioneer 2 Arm-related SIPs and Commands...........................................Error! Bookmark not defined.
SAFETY WATCHDOGS AND CONFIGURATION............................................................................................. 18
CHAPTER 4 QUICK START................................................................................................................... 19
PREPARATIVE ASSEMBLY.......................................................................................................................... 19
Saphira Client Installation................................................................................................................... 19
SAPHIRA CLIENT START-UP......................................................................................................................20
ROBOT COLD START-UP...........................................................................................................................20
RADIO ON............................................................................................................................................21
STARTING CLIENT-SERVER COMMUNICATIONS......................................................................................... 21
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