Updating and Reconfiguring P2OS

Configuring P2OS Operating Parameters

The program p2oscf(.exe) is the way you view and change your Pioneer 2’s identity and operating parameters.

Limited reconfigurations.

FLASH ROM in the controller is guaranteed for only 100 erase cycles.

Steps 1–3: Preparing for Configuration

Prepare for changing your robot’s configuration parameters identically to Steps 1, 2 and 3 for updating P2OS described above.

Step 4: Run p2oscf

As with p2osdl, you will find p2oscf(.exe) in the p2os/ directory of your PSOS distribution. The program accepts optional arguments (Table 12); the argument-less default startup is to connect with your robot’s P2OS microcontroller through your PC’s serial port /dev/ttyS0 in Linux/UNIX systems or COM1 with Win32. With the default, you may double-click to launch psoscf.exe directly from your desktop, rather than executing the program from the MS-DOS Prompt window.

Table 13. p2oscf startup options

Argument

Description

-h

List p2oscf argument options and quit

-b

Batch mode; series configuration command must follow.

 

Configuration changes made to FLASH parameters

-n

Operate p2oscf without connecting with the microcontroller.

 

Useful for editing parameter files saved to disk.

-p

Set serial port; serial port name must follow immediately

 

after argument; /dev/ttyS1 or COM3, for example.

-s

Automatically save changes to disk file named in path

 

immediately following argument.

Step 5: Changing Configuration Parameters

On start up (after power cycle or RESET), P2OS reads a set of operating parameters from its FLASH memory and uses these values if and until you override them with explicit P2OS commands. For instance, a default maximum velocity is stored in the TransVelMax parameter. After establishing a client-server connection, you may send a SETVEL command which changes that default maximum velocity.

Normally when it starts, p2oscf automatically retrieves the current identifying and operating parameters from your Pioneer 2 or PeopleBot robot. Some of the parameters, "Constants", are not to be changed. The others, "Variables", are the identifying and operating parameters that you may edit with p2oscf.

With p2oscf, you edit a temporary copy of the parameters list. Your changes are not changed in your robot’s FLASH memory until you choose to explicitly "save" them. Even then, p2oscf will write to FLASH only if you have changed some parameter value. Writes to the C166 FLASH are guaranteed for only 100 cycles, so we caution that you reconfigure/update your P2OS microcontroller only when necessary.

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Pioneer 2 / PeopleBot manual Configuring P2OS Operating Parameters, Steps 1-3 Preparing for Configuration, Run p2oscf

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.