Pioneer 2 / PeopleBot Manual do Utilizador

Pioneer 2 / PeopleBot Operations Manual for P2OS-based ActivMedia Robots TMPIONEER 2-DXE PIONEER 2-AT PEOPLEBOT TM

What Is Pioneer? Chapter 2 Pioneer is a family of mobile robots, both two-wheel and four-wheel drive, including the Pioneer 2-DX, -DXe, -CE, and -AT,

ActivMedia Robotics managing attached accessories like the Gripper. To complete the client-server architecture, ActivMedia robots require a client c

to use your robot, but it will not appear on your own menu since it copies functionalities of Navigator, which you may not distribute. ! MAPPER prov

ActivMedia Robotics much of the ActivMedia Robotics Basic Suite and many other ventures. The complete, licensed Saphira robotics development environm

Sporting a more holonomic body, larger wheels and stronger motors for better indoor performance, the Pioneer 2-DX and CE models, like Pioneer 1, were

ActivMedia Robotics To the relief of those who have invested years in developing software for Pioneer 1, Pioneer 2 truly does combine the best of the

Specifications and Controls Specifications & Controls Chapter 3 ActivMedia’s robots may be smaller than most, but they pack an impressive array of

ActivMedia Robotics Deck(s) and Console The original Pioneer 2-DX, -CE, and -AT Decks are one piecethe top plate of the robot. The new DXe and AT mo

Specifications and Controls Body, Nose, and Accessory Panels Your ActivMedia robot’s sturdy, but lightweight aluminum Body houses the batteries, driv

ActivMedia Robotics All models come with an access port near the center of the Deck through which to run cables to the internal components. Sonar Arra

Copyright © 2002, ActivMedia Robotics, LLC. All rights reserved. Under international copyright laws, this manual or any portion of it may not b

Specifications and Controls Motors and Position Encoders Pioneer 2 and PeopleBot drive systems use high-speed, high-torque, reversible-DC motors, each

ActivMedia Robotics Motor-Power Board Inside the robot, mounted to the battery box, is the Motor-Power board. It supplies both the 12 and five volts

Specifications and Controls will automatically shut down the onboard PC. Discharging the batteries below 10 VDC may permanently damage them. You may

ActivMedia Robotics The MOTORS button and its associated green LED are under software control. Normally, your ActivMedia robot's motors are disa

Specifications and Controls PeopleBot Sensors and Emergency STOP Performance PeopleBot’s tabletop sensors are very reliable diffuse IR detectors mount

ActivMedia Robotics Quick Start Chapter 4 Your ActivMedia robot comes ready for action.11 This chapter describes how to operate the mobile robot with

Quick Start For instance, the Windows© 9x/ME version is a self-extracting WinZip© archive. Simply double-click its .EXE icon and follow the extract

ActivMedia Robotics The same P2OS initialization sequence occurs whenever you press the red RESET button. Unlike the original Pioneer 1, you cannot en

Quick Start Connected P2OS v1.F 13.2* Operating the Saphira Demonstration Client When communications between the Saphira client and your robot’s

ActivMedia Robotics When manually joysticking the robot, each keypress moves the robot forward or backward faster or slower and incrementally changes

ActivMedia Robotics Important Safety Instructions ! Read the installation and operations instructions before using the equipment. ! Avoid using po

Quick Start RESET button, you must restart the connection. Turning the Main Power switch off and then back ON or pressing the RESET button puts the

ActivMedia Robotics Joydrive and Self-Tests Chapter 5 Beginning with P2OS version 1.C, all Pioneer 2s and PeopleBots may be tethered and driven manual

Joydrive and Self Tests handle find its default centered position before starting to drive. Try exiting (reset) and restarting joydrive mode if the

ActivMedia Robotics Use the drive test to ensure that the drive motors are working and that the encoder cables are in their correct sockets on the mot

Joydrive and Self Tests DIGIN and DIGOUT Test A subsequent self-test lets you examine the values of the eight digital input (ID0–7) and output (OD0-7

ActivMedia Robotics Pioneer 2 Operating System Chapter 6 Figure 19. ActivMedia Robotics client-server control architecture All ActivMedia robots u

Pioneer 2 Operating System server to client. Both are bit streams consisting of four main elements: a two-byte header, a one-byte count of the numb

ActivMedia Robotics provides very reliable links; radio modem-mediated communication is much less reliable. Accordingly, when designing client applica

Pioneer 2 Operating System For some operations, however, the data do not decay as rapidly: Some commands are not overly time-sensitive—for example,

ActivMedia Robotics Table 6. P2OS/PSOS command set Command # Args Description PSOS P2OS Before Client Connection SYNC0 0 none Start connect

Table of Contents CHAPTER 1 INTRODUCTION...

Pioneer 2 Operating System IOREQUEST 40 none Request 1 or a continuous stream (>1) or tell to stop sending (0) IO SIPs – 1.E PTUPOS 41 int

ActivMedia Robotics for negative integers; see below). The argument is an integer, a string, or nothing, depending on the command. Saphira Client Com

Pioneer 2 Operating System housekeeping functions, start its sonar and motor controllers (among other things), listen for client commands, and begin

ActivMedia Robotics and velocity of the robot. When in translation/ rotation (TR) motion control (recommended), separate translation and rotation serv

Pioneer 2 Operating System Position Integration Pioneer keeps track of its position and orientation based on dead-reckoning from wheel motion, which

ActivMedia Robotics example. You may repeat a sonar number and have it ping more than once per sequence. For example: sfRobotComStrn(sfCOMPOLLING,&q

Pioneer 2 Operating System For example, sfRobotComInt (35,4); /* select AN4 to b in the standard SIP */ … later… if (sfRobot.timer & 0xff = = 4

ActivMedia Robotics Send the CONFIG command #18 with or without an argument to have P2OS send back a special server information packet containing the

Pioneer 2 Operating System number of bytes you request via the GETAUX command—up to 200 bytes at a time. P2OS waits to collect the requested number

ActivMedia Robotics Table 10. GRIPPERpac state byte bit Function State 0 Grip limit paddles fully open when 0; otherwise between or closed 1 Li

ActivMedia Robotics A SUCCESSFUL CONNECTION...

Pioneer 2 Operating System sfSMessage("Port# % reads %i",sfRobot.timer, sfRobot.analog); Port# 5 reads 33 sfRobotComInt(35,2); sfSMessage(

ActivMedia Robotics a byte value for the selected analog port, analog values in the IOpac are integers, with resolution to 12 bits. If either bumper

Updating and Reconfiguring P2OS Updating & Reconfiguring P2OS Chapter 7 The P2OS server software and a set of operating parameters get stored in

ActivMedia Robotics Step 2: Enable FLASH Locate the FLASH switch on the Console. It's recessed. Use a flat-bladed screwdriver or other thin ins

Updating and Reconfiguring P2OS Configuring P2OS Operating Parameters The program p2oscf(.exe) is the way you view and change your Pioneer 2’s identi

ActivMedia Robotics Step 6: Save Your Work Use the save command to save your configuration changes to FLASH or to a disk file. We strongly recommend

Updating and Reconfiguring P2OS Saving and Restoring The p2oscf program lets you save and restore whole configuration sets from disk-stored files.

ActivMedia Robotics Table 15. Configuration parameters (currently P2OS 1_J) with values for Pioneer 2-DX KEYWORD Type Default Description CONSTANT

Updating and Reconfiguring P2OS PID Parameters The P2OS configuration parameters include settings for the PID motors controls for translation and rot

ActivMedia Robotics Parameter DX DXe AT CE PB V1 Performance PB Encoder ticks per rev 500 500 500 100 500 500 Gear ratio 19.7 19.7 85.5 19.7

Step 2: Enable FLASH... 47 St

Updating and Reconfiguring P2OS after each startup. You may choose not to change the FLASH ROM values. Rather, you record the new configuration val

ActivMedia Robotics Maintenance & Repair Chapter 8 Your ActivMedia robot is built to last a lifetime and requires little maintenance. Drive Lubric

Maintenance and Repair Alternative Battery Chargers The center post of the charger socket is the positive (+) side of the battery; the case is the ne

ActivMedia Robotics Opening the Deck The new Pioneer 2-AT and -DXe models have a center hinge in the Deck which let you easily open and access interna

Maintenance and Repair Figure 25. Remove indicated screws to flip open the hinged Pioneer 2-AT rear Deck. Figure 26. Remove indicated screws to flip

ActivMedia Robotics Appendix A C166 Controller Ports & Connections This Appendix contains pinout and electrical specifications for the external an

Appendix A: Microcontroller Ports and Connections Table 17. Common serial cable connections to Pioneer 2 Platform & Connector Pin 3 (Tx)

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-purpos

Appendix A: Microcontroller Ports and Connections Table 21. Performance PeopleBot I/O User I/O Pin # Label Use User I/O Pin # Label 1 OD0 ― 2 ID0

ActivMedia Robotics Appendix B Motor-Power Board The Pioneer 2 and PeopleBot robots have a separate Motor-Power board which, in conjunction with the m

ActivMedia Robotics Introduction Figure 1. The Pioneer 2-DX and -AT Mobile Robots first appeared commercially in 1995. Chapter 1 Congratulations o

Appendix B: Motor-Power Board Connectors which output controls the computer's DC:DC voltage converter. Designed to provide for crash-less shut

ActivMedia Robotics Appendix C Joystick Connector Use a 20-wire IDC-terminated ribbon cable to attach the 15-pin joystick connector to the User I/O p

Appendix D: Specifications Appendix D Specifications DXe DX AT Perf PB PB V1 CE Physical Characteristics Length (cm) 44.5 44 5

ActivMedia Robotics Sensors DXe DX AT Perf PB PB V1 CE Sonar Front Array (one each side, six forward @ 20° intervals) 8 8 8 8 8 8 Rear Sonar

Index A/D, 43 Electronics, 14 ENCODERpac, 42 Accessory Panels, 12 Microcontroller, 15 Encoders, 14 ActivMedia Robotics Basic Suite, 5 Nose, 12 ePres

PID parameters, 52 Programming, 35 Restoring parameters, 50 revcount parameter, 52 Saving parameters, 50 Troubleshooting, 47 Updating, 46 P2OS comm

Warranty & Liabilities Your ActivMedia robot is fully warrantied against defective parts or assembly for one year after it is shippedto you fr

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44 Concord Street Peterborough, NH 03458 (603) 924-9100 (603) 924-2184 fax http://www.activrobots.com

Congratulations ! Serial cables for external connections ! Many more… User-Supplied Components / System Requirements ! Client computer: 586-class or

ActivMedia Robotics Support Have a problem? Can’t find the answer in this or any of the accompanying manuals? Or do you know a way that we might impr