Pioneer 2 / PeopleBot manual Controls and Ports

ActivMedia Robotics

Sensors	DXe	DX	AT	Perf PB	PB V1	CE
Sonar Front Array
(one each side,	8	8	8	8	8	8
six forward @ 20°
intervals)
Rear Sonar Array
(one each side,	8	8	8	8	8	na
six rear @ 20°
intervals)
Top Deck Sonar
(one each side,	na	na	na	8	8	na
six rear @ 20°
intervals)
Encoders (2 ea)	39,400	39,400	34,000	76,600	76,600	39,400
counts/rev
counts/mm	66	76	49	128	148	76
counts/rotation	18,400	20,000	22,500	33,500	39,000	18,400
Controls and Ports
Main Power	!	!	!	!	!	!
Charge Port	!	!	!	!	!	!
Joydrive	Optional	Optional	Standard	Standard	Optional	Optional
Microcontroller and Console Controls & Ports
Processor	Siemens 8C166 (20 MHz)
LCD	32 characters on 2 lines
Encoder inputs	4
Audio	Piezo buzzer
PWM outputs	8 (4 user-available)
Sonar inputs	2x8 (multiplexed)
Digital I/O	16 logic ports; 8 in, 8 out
A/D	5 @ 0-5 VDC; 1024- or 256-bit resolution
Digital timers	8 @ 1µsec resolution;
FLASH PROM	32 KB; P2OS and robot-specific parameters
RAM	32 KB
Power switches	1 main; 1 RADIO
Comm ports	2 RS-232 serial internal; 1 RS-232 external
Power (internal	12 VDC @ 1A switched; 5 VDC @ 3A switched
comm. ports)
Logic	RESET and MOTORS
pushbuttons
Indicator LEDs	Main power; RADIO power; Host SERIAL RxD and TxD

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