Adept MobileRobots Pioneer 3, Руководство по эксплуатации

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Chapter 7 Updating & Reconfiguring ARCOS 47
Where to Get ARCOS Software 47
ARCOS Maintenance Mode 47
Enabling Maintenance Mode 47
ARCOScf 48
Starting ARCOScf 48
Start Up Arguments 48
Configuring ARCOS Parameters 49
Interactive Commands 49
Changing Parameters 49
Save Your Work 49
PID Parameters 52
DriftFactor, Ticksmm and RevCount 52
StallVal and StallCount 53
Bumpers 53
IRs 54
README 54
Chapter 8 Calibration & Maintenance 55
Tire Inflation 55
Calibrating Your Robot 55
Standard Calibrations 55
Gyroscope Calibrations 55
Drive Lubrication 56
Batteries 56
Changing Batteries 56
Hot-Swapping the Batteries 56
Charging the Batteries 56
Automated Docking/Charging System 57
Alternative Battery Chargers 57
Tightening the AT Drive Belt 57
Getting Inside 58
Removing the Nose 58
Opening the Deck 58
Factory Repairs 59
Chapter 9 Appendix A 60
Robot Microcontroller Ports & Connectors 60
Main Power Input 61
Auxilliary Serial Ports 61
User I/O, Gripper and Automated Recharger Connector 62
AN4, AN5 Analog Inputs (formerly tilt/roll) 63
Motors, Encoders and IRs 64
Joystick 64
Bumpers 65
SONAR 65
User Control Board 65
Gyro 66
Chapter 11 Appendix B 67
Motor-Power Distribution Board 67
Microcontroller Connection 67
Auxiliary and User Power Connectors 67
IR Signal and Power 69
Chapter 12 Appendix C 70
Specifications 70
Chapter 13 Warranty & Liabilities 72
Index 73