Pioneer 2 / PeopleBot Page 13 Operation Manual Download

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ActivMedia Robotics

much of the ActivMedia Robotics Basic Suite and many other ventures. The complete,

licensed Saphira robotics development environment, including C/C++ libraries, GUI
interface and Simulator, comes bundled with your ActivMedia

robot.

The Pioneer Legacy

Commercially introduced in August of 1995, Pioneer 1 was the original Pioneer platform.

It introduced a single-board 68HC11-based robot microcontroller and the Pioneer Server
Operating System (PSOS) software. It’s low-cost and high-performance caused an

explosion in the number of researchers and developers who now have access to a real,

intelligent mobile robotic platform.

Pioneer 1

Intended mostly for indoor use on hard, flat surfaces, the Pioneer 1 has solid rubber tires
and a two-wheel differential, reversible drive system with a rear caster for balance. The

Pioneer 1 came standard with seven sonar range finders (two side-facing and five

forward-facing) and integrated wheel encoders.

Figure 6. All ActivMedia

robots may be configured

with a variety of integrated

accessories, including (DX

shown here) a very high-

performance laser range-

finder and robotic pan-tilt-

zoom color camera with

onboard PC and

framegrabber for color-

tracking and surveillance.

Software-wise, the Pioneer 1 initially served as a

platform for SRI International's AI/fuzzy logic-based

Saphira robotics applications development. But it
wasn't long before it's open architecture became

the popular platform for the development of a

variety of alternative robotics software
environments.

Many developers created software that interfaced

directly with PSOS. Others extended the capabilities
of Saphira (PAI and P-LOGO are two good

examples), while others have implemented

alternative robotics-control architectures, such as
the subsumption-like Ayllu.

Functionally and programmatically identical to the

Pioneer 1, the four-wheel drive, skid-steering Pioneer
AT was introduced in the Summer of 1997 for

operation in uneven indoor and outdoor

environments, including loose, rough terrain.

Except for the drive system, there are virtually no

operational differences between the Pioneer AT and
the Pioneer 1: The integrated sonar arrays and

microcontrollers are the same. The accessories

available for the Pioneer 1 also work with the Pioneer
AT. Further, applications developed for the Pioneer

1 work with little or no porting to the Pioneer 2s.

Pioneer 2 and PeopleBot

The next generation of Pioneer Mobile Robots—including the Pioneer 2-DX, -CE, and -AT,

introduced in Fall 1998 through Summer 1999, improved upon the Pioneer 1 legacy while
retaining its many important advantages.

Indeed in most respects, particularly with

applications software, Pioneer 2 works identically with Pioneer 1 models.

Price/performance ratio included! The much more capable and expandable Pioneer 2 was introduced four

years later for just a few hundred dollars (US) more than the original Pioneer 1.

Summary of Contents for 2 / PeopleBot

Page 1: ...Pioneer 2 PeopleBot Operations Manual for P2OS based ActivMedia Robots TM PIONEER 2 DXE PIONEER 2 AT PEOPLEBOT TM ...

Page 2: ...ics Developers and users are authorized by revocable license to develop and operate custom software for personal research and educational use only Duplication distribution reverse engineering or commercial application of the ActivMedia Robotics software and hardware without the expressed written consent of ActivMedia Robotics LLC is explicitly forbidden The various names and logos for products use...

Page 3: ...p wheels away from long hair or fur Inappropriate Operation Inappropriate operation voids your warranty Inappropriate operation includes but is not limited to Dropping the robot running it off a ledge or otherwise operating it in an irresponsible manner Overloading the robot above its payload capacity Getting the robot wet Continuing to run the robot after hair yarn string or any other items have ...

Page 4: ...Console 11 Body Nose and Accessory Panels 12 Sonar Arrays with Gain Adjustment 13 Motors and Position Encoders 14 Batteries and Power 14 ELECTRONICS 14 Motor Power Board 15 Microcontroller 15 Sonar Boards 15 CONTROLS PORTS AND INDICATORS 15 Main Power Fuse and Indicator 15 Recharge Power Port 15 Liquid Crystal Display Contrast Adjustment 16 RESET and MOTORS 16 SERIAL 17 RADIO 17 FLASH 17 PEOPLEBOT...

Page 5: ... PROGRAMMING P2OS 35 Establishing a Client Server Connection SYNC 35 Autoconfiguration 35 Opening the Servers OPEN 35 Keeping the Beat PULSE 36 Closing the Connection CLOSE 36 MOVEMENT COMMANDS 36 Pioneer in Motion 37 PID Controls 37 Position Integration 38 SONAR 38 BUMP_STALL 39 E_STOP AND E_STALL 39 EXTENDED PACKETS 40 Packet Processing 40 CONFIGpac and CONFIG Command 40 SERAUXpac and GETAUX 41 ...

Page 6: ...3 CHAPTER 8 MAINTENANCE REPAIR 55 DRIVE LUBRICATION 55 BATTERIES 55 Changing Batteries 55 Hot Swapping the Batteries 55 Charging the Battery 55 Alternative Battery Chargers 56 GETTING INSIDE 56 Removing the Nose 56 Opening the Deck 57 FACTORY REPAIRS 57 FACTORY REPAIRS 58 APPENDIX A 59 INTERNAL SERIAL CONNECTORS 60 USER I O EXPANSION PORT 60 PERFORMANCE PEOPLEBOT I O 61 THE GENERAL I O BUS 62 APPE...

Page 7: ...nd labor defects for one year Third party accessories are warranted by their manufacturers typically for 90 days Even though we ve made every effort to make your ActivMedia Robotics package complete please check the components carefully after you unpack them from the shipping crate Basic Components all shipments One fully assembled mobile robot with battery CD ROM containing licensed copies of Act...

Page 8: ...email based newsgroups through which ActivMedia robot owners share ideas software and questions about the robot Visit the support http robots activmedia com website for more details To sign up for pioneer users for example send an e mail message to the requests automated newsgroup server To pioneer users requests activmedia com From your return e mail address goes here Subject choose one command h...

Page 9: ...e the Main Power switch we often need to understand your robot s configuration to best answer your question Your message goes directly to the ActivMedia Robotics technical support team There a staff member will help you or point you to a place where you can find help Because this is a support option not a general interest newsgroup like pioneer users we reserve the option to reply only to question...

Page 10: ...ivMedia robot also has a variety of expansion power and I O ports for attachment and close integration of additional sensors and other accessories Expansion includes an addressable I O bus for up to 16 devices two RS 232 serial ports eight digital I O ports five A D ports PSU controllers and more all accessible through a common application interface to the robot server software P2OS With the onboa...

Page 11: ...p robots activmedia com ActivMedia Robotics Basic Suite To better support our customers ActivMedia Robotics software designers have blended and refined the best of advanced mobile robotics software found in the many development environments into a suite of state of the art software tools and applications We call this suite ActivMedia Robotics Basic Suite and it includes the following five modules ...

Page 12: ...Media Robotics Interface for Applications ARIA is C based open source development environment that provides a robust client side interface to a variety of intelligent robotics systems including your ActivMedia robot s controller and accessory systems ARIA is the ideal platform for integration of your own robot control software since it neatly handles the lower level details of client server intera...

Page 13: ...tions development But it wasn t long before it s open architecture became the popular platform for the development of a variety of alternative robotics software environments Many developers created software that interfaced directly with PSOS Others extended the capabilities of Saphira PAI and P LOGO are two good examples while others have implemented alternative robotics control architectures such...

Page 14: ...l as for commercial and consumer mobile robotics applications The latest Pioneer 2 the new Pioneer 2 DXe Summer 2001 replaces the DX The DXe comes with pneumatic rubber tires for better mobility and a hinged top plate for easy access to internal components All ActivMedia Robotics Pioneer 2 and PeopleBot robots use a high performance 20 MHz Siemens 88C166 based microcontroller with independent moto...

Page 15: ...Operating System for details Most users run their ActivMedia robot in server mode because it gives them quick easy access to its robotics functionality while working with high level software on a familiar host computer For experiments in microcontroller level operation of your robot s functions you may reprogram the onboard flash ROM and RAM for direct and standalone operation of your ActivMedia r...

Page 16: ...nding its way home and performing other sophisticated path planning tasks Physical Characteristics Weighing only 9 kg 20 pounds with one battery the basic Pioneer 2 DXe Mobile Robot is lightweight but its strong aluminum body materials and solid construction make it virtually indestructible Figure 8 The Pioneer 2 DXE s physical dimensions and swing radius These characteristics also permit it to ca...

Page 17: ...the robot Figure 10 The Console is in the left column of the Performance PeopleBot In general you should try to center the robot s payload over the drive wheels If you must add a heavy accessory to the edge of the Deck counterbalance the weight with a heavy object on the opposite end A full complement of batteries helps balance the robot too The Pioneer 2 s or PeopleBot s Console consists of a liq...

Page 18: ...r 2s and PeopleBots are empty except when equipped with an onboard PC The Nose is readily removable for access Simply remove two screws from underneath the front sonar array With the 2 AT a third screw holds the Nose to the bottom of the Body the DXe s Nose is hinged at the bottom Earlier Pioneer 2 models and the PeopleBots have a Nose that is secured by a single screw beneath the front sonar arra...

Page 19: ... is calibrated at the factory However you may adjust the array s sensitivity and range to accommodate differing operating environments The sonar gain control is on the underside of the sonar driver board which is attached to the floor of each sonar module Sonar sensitivity adjustment controls are accessible directly although you may need to remove the Gripper to access the front sonar if you have ...

Page 20: ...e mounted in the center or two batteries inserted on each side of the battery container Typical recharge time using the recommended accessory 800 mA charger varies according to the discharge state it is roughly equal to three hours per volt per battery The Power Cube accessory allows simultaneous recharge of three swappable batteries outside the robot With the optional high speed 4A maximum curren...

Page 21: ...h each sonar array forward and rear is a sonar multiplexer firing board Wire leads to the individual sonar plug into a 16 pin connector on the board A 10 conductor power signal cable connects the sonar board with the microcontroller Controls Ports and Indicators Main Power Fuse and Indicator A single slide switch on the rear left panel of Pioneer 2 and PeopleBot robots controls power to the entire...

Page 22: ...isplay shows the state of communication with the client computer along with the battery voltage and a blinking heartbeat asterisk in the second line of text A small contrast adjustment potentiometer for the LCD is inset next to the display Make sure the Main Power switch is ON and the battery is well charged Then using a small flat blade screwdriver turn the adjustment screw to darken or lighten t...

Page 23: ...ial data communication between the microcontroller and a client computer This Host serial port shares its three line transmit receive and ground connections with one of the two serial connectors that is inside the robot See Appendix A for pinouts and cabling connections Amber LEDs on each side of the Host serial port light during data exchange activity transmitted from or received by the microcont...

Page 24: ...rmance PeopleBot contains a large red Emergency STOP button prominently positioned on the left column just beneath the upper Deck When pressed the button physically disconnects power from the motors and electrically shorts them to brake the motors A separate digital sense line to the microcontroller can activate an emergency stop process in P2OS See E_STOP and E_STALL in Chapter 6 for details To r...

Page 25: ...ot s 9 pin serial connector on the Console An optional radio modem pair one inside the robot attached to the microcontroller s host serial port and a companion radio modem connected to the serial port of the client computer An integrated onboard PC wired internally for direct onboard control Saphira Client Installation The Saphira client software development environment including the Saphira demon...

Page 26: ... Saphira verxx bin or usr local saphira verxx bin The demonstration program is named saphira or saphira exe For instance with the mouse double click the saphira exe icon inside C Saphira ver62 bin on your Windows 9x ME desktop On your UNIX or Linux machine via an X Windows terminal navigate cd to the usr local Saphira ver62 bin directory and type saphira or saphira to execute the Saphira client so...

Page 27: ...zation packets You may monitor this process on your robot s LCD and in Saphira s Colbert interaction window As synchronization packets are received and echoed by the communications server they appear sequentially next to the word SYNC on the top line of the LCD display on the robot If these numbers do not appear the communication line is down or the client is malfunctioning Press RESET to return P...

Page 28: ... you with your new robot Please read the respective software manuals for how to get the most out of your robot and software The main window of the Saphira client displays a sonar map built by Saphira as the robot moves around its environment Landmarks may be defined as Saphira recognizes and classifies certain sensor data patterns walls and openings for example In Figure 17 for example a Pioneer 2...

Page 29: ...nux users should be sure they have permission to read write the connection serial port On the server side make sure your radio modem is ON if that is the connection route If you access the wrong serial port the Saphira demonstration program will complain Error opening that selected serial port If the robot server isn t listening or if the serial link is severed somewhere between the client and ser...

Page 30: ...hira client with the P2OS servers The Saphira P2OS connection is SERIAL only You may not connect a Saphira or other client software running on an offboard computer with the P2OS controller over a TCP IP link Rather you need the special IPTHRU program running on an onboard computer and which translates IP packets into P2OS serial packets to support a TCP IP based remote client This is not the same ...

Page 31: ...ause they share ports on the User I O connector of the microcontroller older versions of the Pioneer 2 Gripper interferes with joystick operation 14 One solution is to switch the control lines with a 4PDT toggle switch See Appendix C for details Alternatively there is an accessory kit available that moves the Gripper controls to the General I O bus liberating the User I O ports for other uses incl...

Page 32: ...appear in the LCD Press again to begin tests 13 2 And there should be that rhythmic beeping sound coming from the Console speaker to alert you that you may have engaged joydrive and self test modes inadvertently If so press the red RESET button If you really intended to run the self tests move on Note that you may interrupt the current self test and move on to the next one by pressing the white MO...

Page 33: ...rrays 16 If you have added sonar such as with a PeopleBot a second set of sonar tests automatically commence Bumpers The next self test displays the states of the inputs from the front and rear bumpers available for Pioneer 2 and PeopleBot robots The state of each bump switch is mapped into a series of eight LCD display digits The five switches in each bumper front and rear are related to the digi...

Page 34: ... for the location of the digital input and output ports ANALOG Tests P2OS versions 1 2 and later let you alternatively use four of the digital input ports as analog to digital A D input ports And there is one dedicated A D port on the User I O connector The ANALOG self test measures the voltage 0 5 VDC applied to each of the A D ports and display its digitized value as a single byte in hexadecimal...

Page 35: ...to communicate with and control your ActivMedia robot via the P2OS client server interface The same P2OS functions and commands are supported in the various client programming environments that accompany your robot or are available for separate license Experienced Pioneer users can be assured that P2OS is upwardly compatible with PSOS implementing all the same commands and information packets P2OS...

Page 36: ...gh byte string up to 200 length prefixed b0 length of string b1 first byte of string int calc_chksum unsigned char ptr ptr is array of bytes first is data count int n int c 0 n ptr Step over byte count n 2 don t include checksum word while n 1 c ptr 8 ptr 1 c c 0xffff n 2 ptr 2 if n 0 c c int ptr return c NOTE In P2OS the checksum word is placed at the end of the packet with its bytes in the rever...

Page 37: ...l indicator 1 if stalled Bits 1 5 of that same byte correspond to the bump switch states 1 on for the rear bumpers accessory Bit 0 of the msbyte is the right wheel stall the bits 1 5 of that same msbyte correspond to the front bumpers switch states Control signed integer Setpoint of the server s angular position servo multiply by AngleConvFactor for degrees FLAGS was PTU unsigned integer b0 motors...

Page 38: ... include an alternative SIP that currently is not supported by Saphira or ARIA 18 See following sections in this chapter for a description of the extended server information packet types Client Commands P2OS has a structured command format for receiving and responding to directions from a client for control and operation of your ActivMedia robot or its simulator Table 5 P2OS client command packet ...

Page 39: ...o current heading counterclockwise degrees 3 x 1 0 SAY 15 string As many as 20 pairs of duration 20 ms increments tone half cycle pairs int is string length 4 2 1 0 CONFIG 18 int 1 Request configuration SIP 1 4 ENCODER 19 int Request 1 or continuous stream 1 or tell to stop sending 0 Encoder SIPs 1 4 RVEL 21 signed int Rotate at degrees per second 4 2 1 0 DCHEAD 22 signed int Heading setpoint rela...

Page 40: ... 1 H ROTKP 82 int Change rotation s proportional drive factor 1 J ROTKV 83 int Change rotation s differential drive factor 1 J ROTKI 84 int Change rotation s integral drive factor 1 J TRANSKP 85 int Change translation proportional drive factor TRANSKV 86 int Change translation differential drive factor TRANSKI 87 int Change translation integral drive factor PLAYLIST 90 int Must be 0 request AmigoB...

Page 41: ...server connection To establish a connection the client application must send a series of three synchronization packets through the Host communication port containing SYNC0 SYNC1 and SYNC2 command bytes in succession and retrieve the server responses When in wait mode P2OS echoes packets back to the client The client should listen for the returned packets and only issue the next synchronization pac...

Page 42: ... heading setpoints Closing the Connection CLOSE To close the client server connection disabling the motors and sonar and resetting P2OS to its wait state simply issue the client CLOSE command Movement Commands Table 7 P2OS movement commands Rotation HEAD Absolute heading DHEAD DCHEAD Differential heading from control point ROTATE Rotational speed SETRA Rotational de acceleration to achieve setpoin...

Page 43: ... Rotational and translational velocities are limited to the maximum values set in the P2OS parameters or which you may reset with the SETVEL and SETRV commands Maximums take affect on subsequent commands not previously established velocity or heading setpoints Note that with P2OS version 1 8 and later you may override deceleration with the emergency stop E_STOP command number 55 or with the Emerge...

Page 44: ...xis at 0 degrees Absolute angles vary between 0 and 359 As the robot moves it will update this internal position based on dead reckoning The X Y position is always positive and rolls over at about 3 000 millimeters So if the robot is at position 400 2900 and moves 400 millimeters along the Y axis and 600 millimeters along the X axis its new position will be 2800 300 You may reset the internal coor...

Page 45: ...orward bump ring gets triggered sfRobotComInt 44 1 E_STOP and E_STALL In an emergency your client may want the robot to stop quickly not subject to normal deceleration In that case send the E_STOP command 55 Like BUMP_STALL use P2OS built in E_STALL feature version 1_E or later to simulate a stall when someone presses the Performance PeopleBot s Emergency STOP button An integrated switch in the bu...

Page 46: ...rmation packets get encapsulated with a header 0xFA 0xFB byte count packet type byte and trailing checksum It is up to the client to parse the packets sorted by type for content Please consult the respective client application programming manuals for details Saphira for example has an internal parser for the PSOS P2OS packet type 0x3S S 0 2 aka standard SIP but not for the P2OS extended packets we...

Page 47: ... serbytes into inbuf while inbufptr serbytes inbuf inbufptr sfReadClientByte If not SERAUXpac send along to default else sfProcessClientPacket packet_type void main int argc char argv Initialize client and connect with robot sfRobotComInt 43 0 flush the aux buffer sfRobotComStrn 42 fictitious command 18 send command to AUX device inbufptr 0 serbytes 10 number of response bytes to retrieve sfRobotC...

Page 48: ...ount from the left drive wheel Checksum integer Checksum for packet integrity GRIPPERpac and GRIPREQUEST To ameliorate a few shortcoming when we transferred connection and control of the P2 Gripper accessory from User I O to the General I O bus P2OS 1 E introduced and we improved the new GRIPPERpac type 224 0xE0 packet type and related GRIPREQUEST P2OS command 37 in P2OS 1_F Table 9 Gripper packet...

Page 49: ...e device in the form of the TCM2pac See the TCM2 Manual and supporting software that accompanies the device for details Input Output I O Your Pioneer 2 or PeopleBot comes with a number of I O ports that you may use for sensor and other accessories and custom attachments See Appendix A for port locations on the microcontroller The various I O states and readings appear in the standard SIP and may b...

Page 50: ... or RC servo motor position control Use the PTUPOS command to select a port msbyte and specify its pulse width lsbyte in 10 µsecond units For example to have a repeating one millisecond pulse appear on PWM port 1 pin 1 on the User I O connector sfRobotCom2Bytes 41 1 100 You ve got to disable a running PWM port to use it as a digital output port sfRobotCom2Bytes 41 1 0 In P2OS versions 1 J and late...

Page 51: ...h may not be otherwise detected by its sonar or tabletop IR sensors The left and right IR breakbeams are connected to the User I O digital input ports ID2 and ID3 respectively Normally high 1 the respective input port goes low 0 when an object breaks the IR transmitter s beam to its companion receiver The left and right tabletop IR detectors on the Performance PeopleBot are connected to the ID0 an...

Page 52: ...w the on screen directions For the Linux UNIX versions uncompress and untar them using the appropriate system utilities For example with the Linux version tar zxvf p2os1_J tgz The command creates a p2os directory in the current path and stores the P2OS software there Updating P2OS Use the p2osdl exe program that comes with each distribution to download a fresh copy of PSOS to your robot s microcon...

Page 53: ...fy the serial communication port that connects p2osdl with the P2OS microcontroller For Linux UNIX systems the default is dev ttyS0 To communicate through dev ttyS3 for example use p2osdl p2os1_J hex dev ttyS3 For Win32 systems you must pass the required p2osV_r hex file to p2osdl exe so you cannot simply double click the program icon Instead use your mouse to successfully launch the program by dr...

Page 54: ...ler Useful for editing parameter files saved to disk p Set serial port serial port name must follow immediately after argument dev ttyS1 or COM3 for example s Automatically save changes to disk file named in path immediately following argument Step 5 Changing Configuration Parameters On start up after power cycle or RESET P2OS reads a set of operating parameters from its FLASH memory and uses thes...

Page 55: ...isplay current edited P2OS based Arm related values May be different than those stored in FLASH on the robot r or restore pathname Restores edited p2oscf variables to values currently stored in FLASH or from file if argument included save pathname Saves current edited values to FLASH and exits program or saves current edited values to disk for later reference and continues in editor q or quit Exit...

Page 56: ... just as you edit those retrieved from the robot And you may save those edited parameters over the same file or a different one using the p2oscf save command Note that file restored configuration parameters are not necessarily the same as those stored in the robot s FLASH You must save them there separately The following sequence of p2oscf commands illustrates the restore save process Notice that ...

Page 57: ...ar array installed otherwise 0 RearSonar byte 0 1 if rear sonar array installed otherwise 0 LowBattery int 110 In 1 10 volts microcontroller alarm activated when battery charge falls below this value RevCount int 20000 The number of differential encoder ticks for a 360 degree revolution of the robot WatchDog int 2000 Ms time before robot automatically stops if it has not received a command from a ...

Page 58: ... work best in the range of 600 to 800 for lightly to heavily loaded robots respectively The I Term Ki moderates any steady state errors thereby limiting velocity fluctuations during the course of a move At rest your robot will seek to zero out any command position error Too large of a Ki factor will cause an excessive windup of the motor when the load changes such as when climbing over a bump or a...

Page 59: ...itions on the robot Saphira required CompassCal and RevcountCal only work with licensed and properly installed Saphira Note that unlike the p2oscf and p2osdl tools the compass and revcount calibration tools use the Saphira operating environment Hence the programs need to be located in the bin directory of a licensed Saphira installation A Saphira license comes with your ActivMedia Mobile Robot and...

Page 60: ... an X terminal Linux UNIX or DOS command line execute the calibration tool The default connection port is the first serial port on your computer COM1 for Win32 systems or dev ttys0 for other Linux UNIX systems Specify an alternative port by providing a startup argument For example compasscal dev ttyS3 connects the compasscal calibration tool with the robot via the Linux computer s dev ttyS3 serial...

Page 61: ...ly insert batteries by simply sliding each one into a battery box compartment Load the batteries so that their weight gets distributed evenly across the platform Center a single battery and place two batteries one on each side Hot Swapping the Batteries You may change the batteries on your ActivMedia robot without disrupting operation of the onboard systems except the motors of course Either conne...

Page 62: ...uter And we describe how to access the contents of the Body of your Pioneer 2 DX DXe or AT robot Removing the Nose Pioneer 2 s and PeopleBot s onboard computer sits just behind the robot s Nose And you may have to remove the Nose to access the front sonar array s gain adjustment pot For early DX CE and AT models and for the PeopleBot robots the Nose is attached to the robot with two screws one dir...

Page 63: ...overs to access the robot s components In all cases you need to remove the selected screws completely then carefully lift the Deck or section of the Deck up off the Body Review the following figures for screw locations Figure 23 Remove indicated screws to remove original Pioneer 2 DX CE or PeopleBot Deck Figure 24 Remove indicated screws to flip open the front of the Pioneer 2 DXE or AT Deck Gripp...

Page 64: ... 603 924 2184 fax 603 924 9100 voice In the body of your email or fax message describe the problem in as much detail as possible Also include your name email and mail addresses as well as phone and fax numbers Tell us when and how we can best contact you we will assume email is the best manner unless otherwise notified We will try to resolve the problem through communication If the robot must be r...

Page 65: ...red odd pins on top and even pins on the bottom from right to left relative to the key Figure 27 13 11 9 7 5 3 1 14 12 10 8 6 4 2 Figure 27 Serial port IDC connector pins Figure 28 Pioneer 2 PeopleBot microcontroller ports and controls locations Console Serial Port Use the Console DSUB 9 serial port connector for client connections to the P2OS servers and for P2OS downloads Only three pins are act...

Page 66: ...t shares its transmit TxD1 and receive RxD1 lines with the external serial port on the Console The connector also has three data lines P3_12 _14 and _15 that are used by the V 2XG compass Table 18 P2OS Internal Serial Port Connections HOST JP8 Pin Connection Pin Connection 1 Gnd 2 P3_12 3 TxD1 4 12 VDC switched 5 RxD1 6 Gnd 7 P3_15 8 P3_14 9 Gnd 10 5 VDC switched The AUX RS232 compatible serial po...

Page 67: ...or PWM 3 6 P3_2 ID2 7 P2_15 OD3 or PWM 4 8 P3_3 ID3 9 P5_4 ID4 or A D 1 10 P3_4 OD4 11 P5_5 ID5 or A D 2 12 P3_5 OD5 13 P5_6 ID6 or A D 3 14 P3_6 OD6 15 P5_7 ID7 or A D 4 16 P3_7 OD7 17 P5_9 A D 0 5 18 Vcc 100ma 19 Vpp 100ma 20 Gnd Performance PeopleBot I O The left and right Tabletop IR detectors on the Performance PeopleBot are connected to the ID0 and ID1 digital input ports of the User I O res...

Page 68: ... IDC socket on the P2OS microcontroller provides a general purpose I O bus containing 8 read write data lines D0 7 4 chip select lines CS_2 5 2 address lines A0 A1 Read RD and write WR lines 8 general purpose digital I O P3_0 7 1 analog to digital input A D P5_9 4 PWM digital output P2_12 15 2 signal ground Gnd 2 Vcc 5 VDC 1 Vpp 12 VDC Table 22 General I O Bus Connections Pin Label Pin Label 1 P3_...

Page 69: ...r with power ground Vpp are available for accessory and custom electronics on a 12 pin Molex type latch lock 100mm connector Vcc gets shared with the microcontroller and accessories con nected to that board Appendix A The maximum Vcc power available with standard robot models is 1 5A Onboard Computer Option With the computer ready option the Motor Power board is specially populated with connectors...

Page 70: ... With older Motor Power systems you may disable the two minute delay circuitry switched or low voltage shutdown immediate by moving the jumpers on both J3 and J6 on the Motor Power Board to the pins opposite their ON position Power State Logic A 9 pin DSUB receptacle P1 on the Motor Power board provides a logic level shutdown indicator DCD pin 1 which state goes low when computer power shutdown is...

Page 71: ... joystick connector to the User I O port on the P2OS microcontroller Both require P2OS version 1 c or later Figure 30 Standard joyport for manual drive of a Pioneer 2 or PeopleBot Mobile Robot Figure 31 Joyport with signal switch for sharing User I O ports with other accessories such as the older style Gripper 65 ...

Page 72: ...heels 2 pneumatic 2 solid rubber 4 pneumatic 2 pneumatic 2 solid rubber 2 solid rubber diam mm 191 165 220 191 165 165 width mm 50 37 75 50 37 37 Caster mm 75 75 na 75 75 75 Steering Differential Differential Skid Differential Differential Differential Gear ratio 19 7 1 19 7 1 85 2 1 38 3 1 38 3 1 19 7 1 Swing cm 32 32 40 32 Turn cm 0 0cm 0cm 0 Translate speed max mm sec 1 800 1 600 700 900 800 1 ...

Page 73: ...nal Optional Standard Standard Optional Optional Microcontroller and Console Controls Ports Processor Siemens 8C166 20 MHz LCD 32 characters on 2 lines Encoder inputs 4 Audio Piezo buzzer PWM outputs 8 4 user available Sonar inputs 2x8 multiplexed Digital I O 16 logic ports 8 in 8 out A D 5 0 5 VDC 1024 or 256 bit resolution Digital timers 8 1µsec resolution FLASH PROM 32 KB P2OS and robot specifi...

Page 74: ...3 FLASH 17 Download 17 revcountcal 53 LCD 16 Joydrive 17 Charge Cube 14 Main Power 15 Self tests 17 Charger 14 MOTORS 16 Modes of Operation Chargers POWER 17 Joydrive See Joydrive Alternative 56 Recharge 15 Self Test See Self Test Checksum 30 SERIAL 17 Server See P2OS Client commands STATUS LED 16 Standalone See Standalone Argument types 34 STOP 18 Communication rate 32 Data types 30 Motion comman...

Page 75: ...chdog 18 Saphira 6 Connection 21 Disconnecting 23 Errors 23 Installation 19 Main display 22 Operation 22 Problems 23 Servers 29 Startup 20 Saphira h 35 Self Tests 25 Analog 28 Bumpers 27 Compass 27 Digital I O 28 Enabling 26 Gripper 27 Motors 26 PWM 28 Sonar 27 SERAUXpac 41 Serial Auxiliary port 60 Console Port 59 Host port 60 Internal ports 60 SERIAL port 17 Serial ports AUX 41 Server Information...

Page 76: ...ics products shall bear no liabilities for operation and use of the robot or any accompanying software except that covered by the warranty and period The developers marketers or manufacturers shall not be held responsible for any injury to persons or property involving ActivMedia Robotics products in any way They shall bear no responsibilities or liabilities for any operation or application of the...

Page 77: ...71 ...

Page 78: ...44 Concord Street Peterborough NH 03458 603 924 9100 603 924 2184 fax http www activrobots com ...

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