AROSCF................................................................................................................................................... 54
STARTING AROSCF...................................................................................................................................54
CONFIGURING AROS OPERATING PARAMETERS ......................................................................................55
Interactive Commands.......................................................................................................................... 55
Changing Parameters........................................................................................................................... 55
SAVE YOUR WORK....................................................................................................................................56
PID PARAMETERS..................................................................................................................................... 56
TICKSMM AND REVCOUNT........................................................................................................................ 58
STALLVAL AND STALLCOUNT.................................................................................................................. 59
BUMPERS...................................................................................................................................................59
CHAPTER 8 MAINTENANCE & REPAIR............................................................................................61
TIRE INFLATION ........................................................................................................................................61
DRIVE LUBRICATION................................................................................................................................. 61
BATTERIES................................................................................................................................................ 61
Changing Batteries............................................................................................................................... 61
Hot-Swapping the Batteries.................................................................................................................. 61
Charging the Batteries..........................................................................................................................61
Automated Docking/Charging System.................................................................................................. 62
Alternative Battery Chargers................................................................................................................62
TIGHTENING THE AT DRIVE BELT.............................................................................................................62
GETTING INSIDE........................................................................................................................................ 63
Removing the Nose............................................................................................................................... 63
Opening the Deck................................................................................................................................. 64
FACTORY REPAIRS.................................................................................................................................... 64
APPENDIX A..............................................................................................................................................65
H8S PORTS & CONNECTIONS.................................................................................................................... 65
H8S MICROCONTROLLER.......................................................................................................................... 65
Power Connector.................................................................................................................................. 65
Serial Ports........................................................................................................................................... 66
User I/O, Gripper, Docking/Charging Port......................................................................................... 66
The Expansion I/O Bus......................................................................................................................... 67
Bumper Ports........................................................................................................................................ 68
Motors, Encoders, and IR Sensors........................................................................................................68
User Control Interface..........................................................................................................................68
Joystick Port......................................................................................................................................... 69
APPENDIX B..............................................................................................................................................70
PIONEER 3 AND 2-PLUS MOTOR-POWER BOARD....................................................................................... 70
Configuration for Current and Temperature Sensing...........................................................................70
Controller Power and Interface............................................................................................................71
Radio, Auxiliary, and User Power Connectors.................................................................................... 71
IR Signal and Power............................................................................................................................. 72
LEGACY MOTOR-POWER........................................................................................................................... 72
APPENDIX C..............................................................................................................................................73
RADIO MODEM SETTINGS..........................................................................................................................73
APPENDIX D..............................................................................................................................................74
SERIAL ETHERNET SETTINGS.....................................................................................................................74
LAN IP SETTINGS..................................................................................................................................... 74
Console mode:...................................................................................................................................... 74
Webpage............................................................................................................................................... 75
Peer-to-Peer Networking...................................................................................................................... 75
APPENDIX E..............................................................................................................................................76
SPECIFICATIONS........................................................................................................................................ 76
WARRANTY & LIABILITIES................................................................................................................ 78
vi