Pioneer 2 / PeopleBot manual - page 6

Step 2: Enable FLASH.......................................................................................................................... 47
Step 3: Put Microcontroller into Download Mode............................................................................... 47
Step 4: Run p2osdl................................................................................................................................ 47
Download Troubleshooting.................................................................................................................. 47
CONFIGURING P2OS OPERATING PARAMETERS........................................................................................ 48
Steps 1–3: Preparing for Configuration............................................................................................... 48
Step 4: Run p2oscf................................................................................................................................ 48
Step 5: Changing Configuration Parameters.......................................................................................48
Step 6: Save Your Work........................................................................................................................ 49
EDITING P2OS PARAMETERS.................................................................................................................... 49
SAVING AND RESTORING........................................................................................................................... 50
ARM PARAMETERS.................................................................................................................................... 50
PID PARAMETERS..................................................................................................................................... 52
ENCODER AND REVCOUNT........................................................................................................................ 52
CALIBRATION TOOLS - REVCOUNTCAL AND COMPASSCAL........................................................................ 53
CHAPTER 8 MAINTENANCE & REPAIR............................................................................................55
DRIVE LUBRICATION................................................................................................................................. 55
BATTERIES................................................................................................................................................ 55
Changing Batteries............................................................................................................................... 55
Hot-Swapping the Batteries.................................................................................................................. 55
Charging the Battery............................................................................................................................ 55
Alternative Battery Chargers................................................................................................................56
GETTING INSIDE........................................................................................................................................ 56
Removing the Nose............................................................................................................................... 56
Opening the Deck................................................................................................................................. 57
FACTORY REPAIRS.................................................................................................................................... 57
FACTORY REPAIRS.................................................................................................................................... 58
APPENDIX A..............................................................................................................................................59
INTERNAL SERIAL CONNECTORS............................................................................................................... 60
USER I/O EXPANSION PORT...................................................................................................................... 60
PERFORMANCE PEOPLEBOT I/O................................................................................................................ 61
THE GENERAL I/O BUS............................................................................................................................. 62
APPENDIX B..............................................................................................................................................63
USER POWER CONNECTIONS..................................................................................................................... 63
ONBOARD COMPUTER OPTION.................................................................................................................. 63
Power Switch (J7) and Delayed Shutdown Logic................................................................................63
Power-State Logic................................................................................................................................ 64
Computer Power................................................................................................................................... 64
APPENDIX C..............................................................................................................................................65
JOYSTICK CONNECTOR.............................................................................................................................. 65
APPENDIX D..............................................................................................................................................66
SPECIFICATIONS........................................................................................................................................ 66
INDEX......................................................................................................................................................... 68
WARRANTY & LIABILITIES................................................................................................................ 70
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