TCM2 Module
7
Operation and Programming
The TCM2 Module comes fully integrated with the Pioneer 2 Mobile Robot’s systems and software.
The latest versions of Pioneer 2’s operating servers, P2OS (version 1.6 and later), contain support for bi-
directional communication through Pioneer’s AUX serial port by which you run the TCM2 Module, as
well as state-based software control routines that manage the Module’s functions for you.
In turn, the TCM2 P2OS servers are supported in all versions of Pioneer 2-related client software that
support P2OS, including Saphira and Ayllu. We supply simple Saphira-based examples for programming
the P2 TCM2 Module in this manual. Please consult the various Pioneer-related Operation and Software
Manuals for more details about P2OS, Saphira, Ayllu, PAI, and P-LOGO.
We also provide a special cable so that you may power (user-supplied 9 VDC battery) the TCM2
Module and attach it to a serial port on your own computer. This way, you may configure and control the
TCM2 Module using your own or the supplied TCM2 application.
Table 3-1 TCM2 Connections with the Pioneer 2 Microcontroller’s AUX serial Port
TCM2
Pin
Label
Description
AUX
Pin
Label
1
nc
2
Vsupply
+6-25VDC unregulated
4
Vpp (battery 12VDC);
RADIO switched
3
GND
Power ground
6
GND
4
RxD
RS232 serial
3
TxD
5
TxD
RS232 serial
5
RxD
6
nc
7
GND
Data ground
9
GND
8
nc
9
nc
10
nc
nc = no connection
TCM2 I/O
The RS232 standard serial baud rate for the TCM2 Module and the AUX serial port on the Pioneer 2
microcontroller are factory configured for 9600 baud, 8-bit data, 1 stop, no parity. You may change these
settings, but with caution: You may lose connection if the TCM2 port doesn’t match its controller’s
settings, or you may lose connection with another accessory, for instance the PTZ Robotic Camera which
is 9600-baud only.
Switch RADIO power on the Pioneer 2 Console to power the TCM2 Module.
You may directly control the various TCM2 Module functions and read its sensors using the TTY2 and
GETAUX native P2OS commands that manage AUX serial input and output. Or, use the P2OS TCM2
servers and related TCM2 P2OS convenience functions.
P2OS TCM2 Servers
The TCM2 Module comes with a substantial set of configuration and sensor commands. Read the
TCM2 User’s Manual for details.
We’ve collected the command set into P2OS servers that come with P2OS version 1.6 or later.
