Engaging SELF-TESTS | Pioneer 3TM, 2TM instruction

Joydrive and Self Tests

ENGAGING SELF-TESTS

To enable self-test mode, press the white MOTORS button twice after startup or RESET.14

ATTENTION!

Place your robot on the floor or ground and have everyone step

back before engaging self-tests.

Currently, the only AROS self-test exercises your ActivMedia robot’s drive motors. During this test, the robot is not at all conscious of bystanders. Please have everyone step back and remove any obstacles from within a diameter of four to five feet around before engaging the self-test.

The motor’s self-test begins by engaging the left drive wheel, first forward, then in reverse, each to complete a partial turn clockwise, then counterclockwise. Similarly, the right wheel engages, first forward, then reverse, to complete partial turns, first counterclockwise, then clockwise.

The H8S-AROS controller reverts to its client-connection wait state after completing the motors self-test.

14As described above, the first MOTORS press and release puts the robot into joydrive mode.

30

Image 36

Pioneer 3TM, 2TM manual Engaging SELF-TESTS

Contents

Pioneer H8-Series Operations Manual Page Important Safety Instructions Table of Contents Operating the Aria Demonstration Client Appendix C Introduction Robot PackageBasic Components all shipments Optional Components and Attachments partial list User-Supplied Components / System Requirements Additional ResourcesSupport Website Newsgroups Support Support@activmedia.com What Is Pioneer? Pioneer Reference Platform Plus MOTOR-POWER Board Hitachi H8S-BASED Microcontroller Client Software Http//robots.activmedia.com Supporting Software Pioneer Legacy Pioneer 1 and AT Pioneer 2 and PeopleBot ActivMedia Robotics Server Mode Maintenance and Standalone ModesModes of Operation Joydrive and Self Test Modes Specifications & Controls Physical Characteristics Main Components Motor Stop Button User Control Panel P3-DX User Control Panel Body, Nose, and Accessory Panels Sonar Arrays with Gain Adjustment Batteries and Power Motors, Wheels, and Position Encoders Battery Indicators and Low Voltage Conditions Recharging Manual Operation Robot Power OFF Manual Operation Robot Power and Systems onDOCKING/CHARGING System Radio Controls and Accessories Client-server connection options Onboard PC Computer Control Panel Operating the Onboard PC PC Networking UPS and Genpowerd Safety Aros Watchdogs Preparative Assembly Install AriaQuick Start Install Batteries Client-Server CommunicationsStarting UP Client and Server Drive Self-Test Demo Startup Options Ipthru Successful Connection Operating the Aria Demonstration Client Disconnecting Quickstart TroubleshootingProper Connections OFF SRIsim Joydrive Mode Joydrive and Self-Tests Engaging SELF-TESTS ActivMedia Robotics Operating System CLIENT-SERVER Communication Packet Protocols Packet Errors Packet Checksum Server Information Packets Multiply by DistConvFactor‡ Client Commands Before Client Connection P2OS CLIENT-SERVER Connection Autoconfiguration SYNC2 Opening the Servers-OPENKeeping the Beat-PULSE Closing the Connection-CLOSE Motion Commands Rotation ActivMedia Robots in Motion Platform Dependent and Independent Variables PID Controls Internal coordinate system Enable/Disabling Sonar Position IntegrationSonar Polling Sequence and Rate Stalls and Emergencies 11-15 Reserved Accessory Commands and Packets Packet Processing CONFIGpac and Config Command Serial Port CommunicationsChanging Baud Rates and Autobauding HOST-to-AUX Serial Transfers Encoder PacketsGripper packets Sounds TCM2 Onboard PC Heading Correction Gyro Input Output I/O User I/O Bumper and IR I/O IO packets Expansion I/O DOCKING/CHARGING System I/ODigital Port Controls Docking/Charging Servers Monitoring the Recharge Cycle Charge State Overcharge ~Volts Charge current ID7 ActivMedia Robotics Operating System Updating & Reconfiguring Aros Where to GET Aros SoftwareAros Maintenance Mode Simple Aros Updates Updating and Reconfiguring Aros Starting Aroscf Configuring Aros Operating Parameters Interactive CommandsChanging Parameters Save Your Work PID Parameters Keyword Ticksmm and Revcount 0056 0057 0060 0034 Stallval and Stallcount Bumpers Updating and Reconfiguring Aros Maintenance & Repair Tire InflationDrive Lubrication Batteries Alternative Battery Chargers Automated Docking/Charging SystemTightening the AT Drive Belt Getting Inside Removing the Nose Opening the Deck Factory Repairs Power Connector Appendix aH8S Ports & Connections H8S Microcontroller Serial Ports User I/O, Gripper, Docking/Charging Port OD7 Expansion I/O Bus Bumper Ports Motors, Encoders, and IR SensorsUser Control Interface Joystick Port Pioneer 3 and 2-PLUS MOTOR-POWER Board Configuration for Current and Temperature SensingAppendix B Controller Power and Interface Radio, Auxiliary, and User Power Connectors IR Signal and Power GND Radio Modem Settings Appendix C Serial Ethernet Settings Console modeAppendix D Webpage Peer-to-Peer Networking Specifications Appendix E Controls and Ports Warranty & Liabilities Columbia Drive Amherst, NH 603