ActivMedia Robotics
Chapter 5 Joydrive and Self-Tests
Although not all models come standard with a joystick port, your robot’s H8S-based controller has a joystick connector and AROS contains a joydrive server for manual operation.13 And AROS comes with a short self-test routine for your robot’s drive system.
To run in either joydrive or self-test mode, start up or RESET the robot into its AROS wait state. You may press the RESET button at any time to disable self-test and joydrive modes. You have about 10 seconds to engage and complete the joystick calibration and begin driving the robot or to enter into motors self-test mode before the controller automatically cancels joydrive mode and reverts to waiting for a client connection.
You may also enable AROS’ joydrive server while connected with a client by sending the client command number 47 with the integer argument 1.
JOYDRIVE MODE
To joydrive your robot when not connected with a client program, switch the robot’s Main Power ON or RESET the controller, then press the white MOTORS button on the User Control Panel once. Listen for a rhythmic, low-tone beeping indicating joydrive mode.
To joydrive your robot while it is connected with a client (overrides client-based drive commands for manual operation while recording a map, for instance), you must have the client software send the AROS command #47 with an integer argument 1 to enable the joydrive servers. The first time you press and release the joystick fire button after AROS receives the command, you engage self-calibration mode (see below). Have your client send the AROS joydrive command #47 with an integer argument of 0 to disable the joystick drive-override.
The joystick is self-calibrating: When you first enable joydrive mode, either by the client command or when in self-test joydrive mode, AROS detects the joystick’s center and extreme positions and saves these values to balance the driving action. Accordingly, rotate the joystick around its extreme limits and then let the joystick handle find its default centered position before pressing the fire button and starting to joydrive the robot. Try exiting (RESET or client command 47, depending on mode) and restarting joydrive mode if the joystick doesn’t seem to function well.
The joystick’s fire button 1 acts as the joydrive “deadman”—press it to start driving; release it to stop the robot’s motors. The robot should drive forward and reverse, and turn left or right in response and at speeds relative to the joystick’s position.
When not connected with a client control program, releasing the joystick fire button stops the robot. However when connected with a client, the client program resumes automatic operation of your robot’s drive system. So, for example, your robot may speed up or slow down and turn, depending on the actions of your client program.
You may adjust the maximum translational and rotational speeds and even disable joydrive mode, through special AROS FLASH configuration parameters. See Chapter 7, Updating & Reconfiguring AROS, for details.
13The joystick adaptor kit, including the 15-pin DSUB joystick connector and pull-up resistors, if not installed on your robot, is available for nominal fee through sales@activmedia.com. Also note that this port is different than the USB-based joystick port found on the back of the Laser bracket for the optional equipment and used to manually drive from ARIA-based clients.
