Pioneer 2 / PeopleBot manual Performance PeopleBot I/O, Pin Label Use

ActivMedia Robotics

!4 Pulse-width-modulation ports (PWM1-4)

!1 signal ground (Gnd)

!1 Vcc (+5 VDC)

!1 Vpp (+12 VDC)

Note that the general-purpose I/O and analog-to-digital ports are shared with the General I/O connector (below) and joystick circuitry and may not be available for use on all robots. For example, the analog lines P5_4-7, are used by the Joystick port, which now comes standard with the Pioneer 2-AT and Performance PeopleBot. In addition, four of the A/D ports and the PWM ports are shared with digital input and output lines, respectively.

Table 20. User I/O Expansion Port

Pin	Label	Use	Pin	Label	Use
#			#
1	P2_12	OD0 or	2	P3_0	ID0
		PWM #1
3	P2_13	OD1 or	4	P3_1	ID1
		PWM #2
5	P2_14	OD2 or	6	P3_2	ID2
		PWM #3
7	P2_15	OD3 or	8	P3_3	ID3
		PWM #4
9	P5_4	ID4 or	10	P3_4	OD4
		A/D #1
11	P5_5	ID5 or	12	P3_5	OD5
		A/D #2
13	P5_6	ID6 or	14	P3_6	OD6
		A/D #3
15	P5_7	ID7 or	16	P3_7	OD7
		A/D #4
17	P5_9	A/D	18	Vcc	<100ma
		#0/5
19	Vpp	<100ma	20	Gnd

Performance PeopleBot I/O

The left and right Tabletop IR detectors on the Performance PeopleBot are connected to the ID0 and ID1 digital input ports of the User I/O, respectively, which appear as bits 0 and 1 in the digin byte of the standard P2OS Server Information Packet. Normally high (1), the digital input port goes low (0) when its respective Tabletop sensor detects an object within its range of operation.

The left and right IR breakbeams are connected the User I/O digital input ports ID2 and ID3, respectively. Normally high (1), the respective input port goes low (0) when an object breaks the IR transmitter’s beam to its companion receiver.

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