Adept MobileRobots Pioneer 3, Operation Manual

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65
7 *AN0 Max speed
control
8 nc
Bumpers
Two 10-position latching IDC connectors provide general-purpose digital inputs, typically used for the robot’s bumpers.
All inputs are buffered and pulled high (digital 1).
Table 28. Bumper ports (10-pos latching IDC)
P
IN
S
IGNAL
D
ESCRIPTION
P
IN
S
IGNAL
D
ESCRIPTION
1 BP0 Bumper bit 0 2 BP1 Bumper bit 1
3 BP2 Bumper bit 2 4 BP3 Bumper bit 3
5 BP4 Bumper bit 4 6 BP5 Bumper bit 5
7 BP6 Bumper bit 6 8 BP7 Bumper bit 7
9 Gnd Common 10 Gnd Common
SONAR
Four connectors—two latching 10-pos IDC and two 10-pos microfits—provide signal and power for the four SONAR
arrays SONAR1 through SONAR4, respectively.
Table 29. SONAR
P
IN
S
IGNAL
D
ESCRIPTION
P
IN
S
IGNAL
D
ESCRIPTION
1 A0 disc address
2
A1 disc address
3 A2 disc address 4 BINH inhibits return signal
5 INIT starts SONAR ping 6 VCC 5 VDC
7 VCC 5 VDC 8 SGND Common
9 SGND Common 10 ECHO Goes high if echo threshold reached
User Control Board
A 16-position latching IDC connector provides interface with the User Control Panel board and functions. See
description in a following section.
Table 30. User Control Panel interface
P
IN
S
IGNAL
D
ESCRIPTION
P
IN
S
IGNAL
D
ESCRIPTION
1 Vcc 5 VDC power 2 Vcc 5 VDC power
3 RST RESET button 4 MOT MOTORS button
5 RPWR Radio power switch 6 APWR Aux power switch
7 8 BZR Buzzer PWM
9 PLED Main power 10 SLED Status
11 Vpp Battery 12 VDC 12 Gnd Signal/power common
13 Gnd Signal/power common 14 HTXD HOST serial transmit
15 HDSR HOST serial enabled 16 HRCV HOST serial receive