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ActivMedia Robotics Pioneer 2, Руководство по эксплуатации

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Pioneer Mobile Robots

47

Table A-1. Common serial cable connections to Pioneer 2

Platform & Connector

Pin 3 (Tx)

Pin 5 (Rx)

Pin 9 (Gnd)

Sun Sparcstation DB-25

3

2

7

SGI Irix mini-DIN 8

5

3

4

PC COM

n

: DB-9

2

3

5

PC COM

n

: DB-25

3

2

7

Macintosh mini-DIN 8

3

5

4

The Pioneer 2 operates at the following configuration: 9,600, 19,200 or 38,400 bits per second data rate;
eight data bits; one stop bit; no parity or hardware handshaking (DTR).

Internal Serial Connectors

Two 10-pin serial port connectors on the Pioneer 2 microcontroller support independent RS-232 serial
communications. The ports also contain switched (RADIO on the Console) five and 12 volts DC power
(maximum available 0.75A or 2.25A, depending on Pioneer 2 configuration) for accessory connections,
such as a radio modem, radio Ethernet, and the Pioneer electronic compass (Table A-2).

The “host” serial port  (connector JP8) is the serial port used by the Pioneer 2 microcontroller for client
communications. It shares its transmit (TxD1) and receive (RxD1) lines with the external serial port on the
Console. The P2OS connector also has three data lines (P3_12, _14, and _15) that are used by the Pioneer
compass.

Table A-2. 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 auxiliary RS232-compatible serial port (connector JP7) on the Pioneer 2 microcontroller operates
independently from the host serial port and is for accessory attachments, such as the PTZ Robotic Camera.
Note the additional power connections.

Table A-3. Auxiliary Internal Serial Port Connections ("aux" JP7)

Pin #

Connection

Pin #

Connection

1

Gnd

2

12 VDC (switched)

3

TxD2

4

12 VDC (switched)

5

RxD2

6

Gnd

7

No connection

8

5 VDC (switched)

9

Gnd

10

5 VDC (switched)

User I/O Expansion Port

A 20-pin IDC socket on the Pioneer 2 microcontroller provides these digital, analog, and power ports for
user connections (Table A-4):

Ÿ

 

8 general-purpose digital input and output ports (ID/OD0-7)

Ÿ

 

5 analog-to-digital input ports (AD1-5)

Ÿ

 

4 Pulse-width-modulation ports (PWM1-4)

Ÿ

 

1 signal ground (Gnd)

Ÿ

 

1 Vcc (+5 VDC)

Содержание Pioneer 2

Страница 1: ...Pioneer 2 M O B I L E R O B O T S with Pioneer 2 Operating System Servers OPERATIONS MANUAL THE PIONEER 2 MOBILE ROBOT...

Страница 2: ...ers 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...

Страница 3: ...ers 10 Sonars 10 Batteries and Power 11 Electronics 12 Power Motor Board 12 Microcontroller 12 Sonar Boards 13 Controls Ports and Indicators 13 Main Power Fuse and Indicator 13 Recharge Power Port 13...

Страница 4: ...ackets 35 Encoder Packets 35 AUX Serial Packets 36 Standalone Mode 37 7 UPDATING RECONFIGURING P2OS 38 Where to Get P2OS Software 38 Installing the P2OS Utilities 38 Updating P2OS 38 Step 1 Serial Con...

Страница 5: ...Port 47 The General I O Bus 48 APPENDIX B 50 User Power Connections 50 Onboard Computer Option 51 Power Switch J7 and Delayed Shutdown Logic 51 Power State Logic 51 Computer Power 51 APPENDIX C 52 APP...

Страница 6: ...vi...

Страница 7: ...inst mechanical electronic and labor defects for one year Third party accessories are warranted by their manufacturers typically for 90 days All of these precautions ensure that you have many years to...

Страница 8: ...ensed customers To gain access enter the username and password written on the Pioneer Registration Account Sheet that accompanied your robot and this manual Pioneer Newsgroup We maintain an E mail bas...

Страница 9: ...ber look for it beside the Main Power switch we often need to understand your robot s configuration to best answer your question Your message goes directly to the Pioneer technical support team There...

Страница 10: ...h a common application interface to the robot server software P2OS With the onboard computer option Pioneer 2 has four additional RS 232 ports a PCI bus and space for up to five PC104 accessory cards...

Страница 11: ...nging availability of resources See the Ayllu Programmer s Manual for details An important benefit of Pioneer s client server architecture is that different robot servers can be run using the same hig...

Страница 12: ...ontroller with independent motor power and sonar controller boards for a versatile operating environment The controller has two RS232 standard communications ports and an expansion bus to support the...

Страница 13: ...may reprogram the onboard flash ROM and RAM for direct and stand alone operation of Pioneer 2 We supply the means to download but not the microcontroller s programming software for you to work in stan...

Страница 14: ...Figure 3 1 The Pioneer 2 DX CE physical dimensions and swing radius Weighing only 9 Kg 20 pounds with one battery the basic Pioneer 2 Mobile Robot is lightweight but its strong aluminum body material...

Страница 15: ...e cables to the accessory panels on each side of the DX CE or trough an access panel on top of the Pioneer 2 AT A removable plug in the middle of the Deck gives you convenient access to the interior o...

Страница 16: ...eal place for you to attach your own custom accessories and sensors Accessory Panels The Pioneer 2 DX comes with a removeable panel on each side of the robot on which you can install accessory connnec...

Страница 17: ...gain control counterclockwise to make the sonar less sensitive to external noise and false echoes Low sonar gain settings reduce the robots ability to see small objects under some circumstances that...

Страница 18: ...e robot controls power for the entire system Processor control switches and indicators fit through the Deck Console Power Motor Board Inside the robot mounted to the battery box is the Pioneer 2 Motor...

Страница 19: ...erate below 10 VDC The microcontroller will sound a warning when the battery voltage falls below that set level see Chapter 7 Updating and Reconfiguring P2OS and the optional computer power circuitry...

Страница 20: ...grams downloaded in stand alone mode get restarted The MOTORS pushbutton is NOT a power switch it does not directly control power to the motors P2OS does and your stand alone software must The MOTORS...

Страница 21: ...dem s power off if you use the Console Serial Port to connect a piggyback laptop or another external computer to the robot The radio modem gets connected to the microcontroller via the internal shared...

Страница 22: ...during shipping Consult any Tech Notes and accessory assembly manuals that may accompany your Pioneer 2 for final assembly details Saphira Client Installation The Saphira client development software...

Страница 23: ...3 8 The heartbeat asterisk character following the battery voltage should be flashing on and off The same P2OS initialization sequence occurs whenever you press the red RESET button Unlike the origina...

Страница 24: ...rs The associated green LED should stop flashing and light continuously The amber SERIAL port indicator LEDs on the robot s Console should blink to indicate Saphira client P2OS server communications T...

Страница 25: ...to Pioneer One of Saphira s behaviors by the way is to have Pioneer seek and traverse the center of a corridor Figure 4 3 The main window of Pioneer s Saphira client You may enable and disable Saphir...

Страница 26: ...oting You must have a valid Saphira license to connect with Pioneer or any other robot Unlicensed Saphira clients may only connect with the Pioneer simulator Licensed versions of Saphira come with the...

Страница 27: ...the Saphira client and Pioneer server but both the client and server remain active you may revive the connection with little effort If you are using radio modems first check and see if the robot is o...

Страница 28: ...bstacles from within a diameter of four to five feet around the Pioneer When ready press the white MOTORS button once again The motors self test begins by engaging the left drive wheel first forward t...

Страница 29: ...lled the DIGOUT self test gets bypassed Like DIGIN the DIGOUTself test software maps into series of eight ones and zeros the current state of each the eight digital output ports OD0 7 and displays the...

Страница 30: ...ample only the second and third bumps are on Front Bumps 00100010 13 2 Rear Bumps 00101100 13 2 The basic Pioneer 2 has no attachments to the bump ports Because their normal state is floating the Bump...

Страница 31: ...th your robot This chapter explains how to communicate with Pioneer via the P2OS client server interface The same P2OS functions and commands are supported in the various client programming libraries...

Страница 32: ...o compute a checksum int calc_chksum unsigned char ptr ptr is array of bytes first is data count int n int c 0 n ptr n 2 don t use chksum word while n 1 c ptr 8 ptr 1 c c 0xffff n 2 ptr 2 if n 0 c c i...

Страница 33: ...eving the correct state Server Information Packets Like its PSOS predecessor P2OS automatically sends a packet of information over the serial communication port back to the client every 100 millisecon...

Страница 34: ...wer versions of the P2OS SIP will be implemented as a different packet type Client Commands P2OS implements a structured command format for receiving and responding to directions from a client for con...

Страница 35: ...celeration if negative in millimeters per second2 1 0 SETV 6 int Reset maximum translational velocity in millimeters per second 4 8 1 0 SETO 7 none Resets server to 0 0 0 origin 3 x 1 0 SETRV 10 int R...

Страница 36: ...n find prototypes in SAPHIRA handler include saphira h and saphira pro Saphira s P2OS command names have the prefix sfCOM followed by the command names listed in subsequent tables See the Saphira Soft...

Страница 37: ...nds Otherwise it assumes the client server connection is broken and shuts down the robot s motors It s good practice to send a PULSE to Pioneer just after opening the servers And if your client applic...

Страница 38: ...n Registration between external and internal coordinates deteriorates rapidly with movement due to gearbox play wheel imbalance and slippage and many other real world factors You can rely on the dead...

Страница 39: ...bered octal 1 through 10 and the rear sonar are numbers 11 through 100 You may repeat a sonar number and have it ping more than one per sequence For example sfRobotComStrn sfCOMPOLLING 1 2 1 2 4 ping...

Страница 40: ...nteger argument The first byte is a mask whose bit pattern selects 1 or ignores 0 the state bit pattern expressed in the second byte Accordingly you might use Saphira to set digital output ports 1 and...

Страница 41: ...acket processor is included with the Saphira distribution packet c in the apps directory Configuration Packets Send the CONFIG command number 18 with any integer argument to request P2OS send back a s...

Страница 42: ...and send those incoming data in a special SERAUXpac type 176 0xB0 SIP back to the client via the common HOST serial port P2OS maintains a circular buffer for incoming serial data from the AUX port an...

Страница 43: ...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 f...

Страница 44: ...command is tar zxvf p2os1_3 tgz The command creates a p2os directory in the current path and stores the P2OS software there Updating P2OS Use the p2osdl exe program to download a fresh copy of PSOS t...

Страница 45: ...l or not If it was simply reboot the robot and go on to connect with a client or change its operating parameters see next section Otherwise try the download from Step 1 again to be sure you performed...

Страница 46: ...To see a parameter s current value individually type its keyword alone To change a P2OS variable parameter s value type its keyword followed by the replacement value That value may be a string no quo...

Страница 47: ...ivated when battery charge falls below this value RevCount integer 20000 The number of encoder ticks for a 360 degree revolution of the robot Reset this parameter to a number that best reflects the ch...

Страница 48: ...strates the restore save process Notice that the name stored on the robot doesn t change until the change is saved command name Your robot s name is Son_of_Flakey command restore p2dx command name You...

Страница 49: ...used by the robot after each startup You may choose not to change the FLASH ROM values Rather you may record the new configuration values and set reset them using the p2oscf tool described earlier in...

Страница 50: ...isrupting operation of the onboard systems except the motors of course Either connect the charger which powers the robot s systems while you change the battery or batteries Or if you have two or three...

Страница 51: ...describe the problem in as much detail as possible Also include your name e mail and mail addresses as well as phone and fax numbers Tell us when and how we can best contact you we will assume e mail...

Страница 52: ...ed odd pins on top and even pins on the bottom from right to left relative to the key Figure A 1 13 11 9 7 5 3 1 14 12 10 8 6 4 2 Figure A 1 Common IDC connector pinouts Figure A 2 Pioneer 2 microcont...

Страница 53: ...hares its transmit TxD1 and receive RxD1 lines with the external serial port on the Console The P2OS connector also has three data lines P3_12 _14 and _15 that are used by the Pioneer compass Table A...

Страница 54: ...D ports and the PWM ports are shared with digital input and output lines respectively Table A 4 User I O Expansion Port Pin Label Use Pin Label Use 1 P2_12 OD0 or PWM 1 2 P3_0 ID0 3 P2_13 OD1 or PWM 2...

Страница 55: ...Pin Label Pin Label 1 P3_0 2 D0 3 P3_1 4 D1 5 P3_2 6 D2 7 P3_3 8 D3 9 P3_4 10 D4 11 P3_5 12 D5 13 P3_6 14 D6 15 P3_7 16 D7 17 WR 18 CS2 19 Vpp 20 CS3 Bumpers 21 P2_12 22 CS4 23 P2_13 24 CS5 25 P2_14...

Страница 56: ...d Ethernet radio Find the Motor Power Board attached to the back of the battery box Figure B 1 Pioneer 2 Motor Power Board User Power Connections On the Pioneer 2 Motor Power board four sets of un swi...

Страница 57: ...wer not system wide shutdown Similarly when the computer power is manually switched off the comparator is grounded below 10 VDC of course and the same two minute delayed shutdown occurs In all cases p...

Страница 58: ...of octagon Holonomic 1 turns in own radius These are for sixteen sonars six each front and rear two each side Sonar parameters SonarNum N is number of sonar SonarUnit I X Y TH is unit I 0 to N 1 desc...

Страница 59: ...These are for the eight front sonars six front two sides Sonar parameters SonarNum N is number of sonars SonarUnit I X Y TH is unit I 0 to N 1 description X Y are position of sonar in mm TH is bearin...

Страница 60: ...wer Battery 3x12V lead acid Same Charge 252 watt hr hot swappable Same Run time 8 10 hrs 4 6 hrs Recharge time 8 hrs Same Mobility Drive wheels 2 solid rubber with 4 pneumatic rear balancing caster 4...

Страница 61: ...5 0 5 VDC Same Digital timer output 8 1 sec resolution Same Digital timer inputs 8 1 sec resolution Same Comm port 2 RS 232 serial Same FLASH PROM 32 KB P2OS encoded software Same RAM 32 KB user prog...

Страница 62: ...31 Deck 9 DHEAD 31 Digin 33 Digital Input 33 Digital Output 33 DIGOUT 33 Drive Lubrication 43 Electronics 12 Email pioneer support 3 pioneer users 2 saphira users 2 ENABLE 31 ENCODER 35 ENCODERpac 35...

Страница 63: ...al ports AUX 35 Server Information packets 27 Server information packets 27 Servers 25 ADSEL 33 Autoconfiguration 30 BUMPSTALL 34 CLOSE 31 DCHEAD 31 DHEAD 31 DIGOUT 33 OPEN 31 Pioneer 2 Operating Syst...

Страница 64: ...r 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...

Страница 65: ...44 Concord Street Peterborough NH 03458 603 924 9100 603 924 2184 fax http www activmedia com robots...

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