Pioneer 2 Operating System

 

 

 

 

 

 

IOREQUEST

40

none

Request 1 or a continuous stream (>1) or

–

1.E

 

 

 

tell to stop sending (0) IO SIPs

 

 

PTUPOS

41

int

msb is the port number (1-4) and lsb is the

4.5

1.2

 

 

 

pulse width in 100µsec units PSOS, 10µsec

 

-

 

 

 

units P2OS. Version 1.J uses RC-servo

 

1.J

 

 

 

40ms duty cycle.

 

 

TTY2

42

string

Send string argument to serial device

4.2

1.0

 

 

 

connected to AUX port on microcontroller

 

 

GETAUX

43

int

Request to retrieve 1-200 bytes from the

 

1.4

 

 

 

aux serial channel; 0 flushes the aux serial

–

 

 

 

 

input buffer.

 

 

BUMP_STALL

44

int

Stop and register a stall if front (1), rear (2)

–

1.5

 

 

 

or either (3) bump-ring contacted. Off

 

 

 

 

 

(default) is 0.

 

 

TCM2

45

int

TCM2 Module commands; see TCM2

–

1.6

 

 

 

Manual for details.

 

 

DOCK

46

int

Default is 0=OFF; 1=enable docking

 

 

 

 

 

signals; 2=enable docking signals and stop

–

1.C

 

 

 

the robot when docking power sensed.

 

 

JOYDRIVE

47

int

Default is O=OFF; 1=allow joystick drive

–

1.G

 

 

 

from hardware port

 

 

E_STOP

55

none

Emergency stop, overrides deceleration

–

1.8

 

 

 

 

 

 

E_STALL

56

int

Emergency stop button causes stall on

–

1.E

 

 

 

PeopleBot only

 

 

STEP

64

none

Single-step mode (simulator only)

3.x

1.0

 

 

 

 

 

 

ARM

70

 

Please consult the Pioneer 2 Arm Manual

 

1.H

 

–

–

for details.

–

 

 

80

 

 

 

 

ROTKP

82

int

Change rotation’s proportional drive factor

–

1.J

 

 

 

 

 

 

ROTKV

83

int

Change rotation’s differential drive factor

–

1.J

ROTKI

84

int

Change rotation’s integral drive factor

–

1.J

TRANSKP

85

int

Change translation proportional drive factor

–

 

TRANSKV

86

int

Change translation differential drive factor

–

 

TRANSKI

87

int

Change translation integral drive factor

–

 

PLAYLIST

90

int

Must be 0; request AmigoBot sound playlist

–

1.E

The client must send a command packet at least once every watchdog (default is two) seconds (see next chapter). Otherwise, the robot’s onboard drives automatically stop, but will resume again on receipt of a client packet. To maintain the watchdog, Saphira, for instance, sends the action-less PULSE command in the absence of other client commands.

A P2OS command is comprised of a one-byte command number optionally followed by, if required by the command, a one-byte description of the argument type and the argument value.

Client Command Argument Types

There are four types of P2OS client command arguments: none, unsigned integers two bytes long, signed integers two bytes long, and NULL-terminated strings consisting of as many as 196 characters.

The byte order, where applicable, is least-significant byte first. Negative integers are transmitted as their absolute value (unlike information packets, which use sign extension

34

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Pioneer 2 / PeopleBot manual Ptupos, Client Command Argument Types
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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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