Specifications & Controls
8
Figure 5. Pioneer 3-AT’s console and hinged
deck
Figure 6. P3-DX User Control
Panel
D
ECK
Pioneer 3 models have hinged top-plates which give you much easier access to the internal components of the robot.
See Chapter 8,
Calibration & Maintenance
, for access details.
The robot’s deck or top plate is simply the flat surface for mounting
projects and accessories, such as the PTZ Robotic Camera and a
laser range finder. Feed-through slots on each side of the DX deck
let you conveniently route cables to the accessory connectors on
the side panels of the robot. A removable plug in the middle of the
deck on all models gives you convenient access to the interior of
the robot.
When mounting accessories, 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.
Warning: always remove the deck (top plate) from
the robot before drilling or cutting!
E-S
TOP
B
UTTON
All Pioneer 3-AT and, upon request, some Pioneer 3-DX robots have a
STOP
button at the rear of their deck. Press and
release it to immediately disengage the robot’s motor power. It will also cause a stall and can result in incessant
beeping from the onboard piezo speaker (see
User Controls
below).
Press the
STOP
button in to re-engage motor power and stop that incessant beeping noise. Note that you may also
have to re-enable the motors when connected with client software, either by manually pressing the
MOTORS
button on
the User Control Panel, or through a special client command #4.
U
SER
C
ONTROL
P
ANEL
ConsoleThe User Control Panel is where you have access to the ARCOS-based onboard microcontroller. Found inside
the AT’s hinged access panel on the deck or on the left sidepanel of the DX, it consists of control buttons and indicators
and an RS-232 compatible serial port (9-pin DSUB connector).
Power and Status Indicators
The red
PWR
LED is lit whenever main power is applied to the robot. The green
STAT
LED state depends on the operating mode and other conditions. It
flashes slowly when the microcontroller is awaiting a connection with a client
and flashes quickly when in joydrive mode or when connected with a client and
the motors are engaged. It also flashes moderately fast when the
microcontroller is in maintenance mode.
The
BATTERY
LED’s apparent color depends on your robot’s battery voltage:
green when fully charged (>12.5 volts) through orange, and finally red when
the voltage drops below 11.5. When in maintenance mode, the BATTERY LED
glows bright red only, regardless of battery charge.
Buzzer
A built-in piezo buzzer provides audible clues to the robot’s state, such as upon
successful startup of the microcontroller and a client connection. An ARCOS
client command lets you program the buzzer, too, to play your own MIDI
sounds.