Pioneer 2 Manuel d'utilisateur

Pioneer 2MOBILE ROBOTSwith Pioneer 2 Operating System ServersOPERATIONSMANUAL

4What Is Pioneer?Pioneer is a family of mobile robots, both two-wheel and four-wheel-drive. They are all small, intelligentrobots, whose architecture

Pioneer Mobile Robots5Currently supported client operating systems include most UNIX, Apple Macintosh, SunOS and Solarisfrom Sun Microsystems, Linux,

6terrain. Each side of the Pioneer AT is electronically and physically linked for evenly applied translationaland rotational power and speeds.Except f

Pioneer Mobile Robots7Most users run Pioneer in this server mode, because it gives them quick, easy access to the roboticsfunctionality while working

Specifications and Controls8Specifications & ControlsPioneer robots may be smaller than most, but they pack an impressive array of intelligent mob

Pioneer Mobile Robots9Console and DeckThe Pioneer 2 Console and Deck are actually one piecethe top plate of the robot. The Deck is simplythe flat sur

Specifications and Controls10NoseThe Nose of Pioneer 2 is empty, except when equipped with an onboard PC. The Nose is readilyremovable: Simply remove

Pioneer Mobile Robots11The sonar firing rate is 25 Hz (40 milliseconds per sonar per array) and sensitivity ranges from ten cm (sixinches) to more tha

Specifications and Controls12A Main Power switch at the back of the robot controls power for the entire system. Processor controlswitches and indicato

Pioneer Mobile Robots13power circuitry will automatically shut down the onboard PC. Discharging the batteries to below 10 VDCdamages them. Disengage t

iiCopyright © 2000, ActivMEDIA ROBOTICS, LLCAll rights reserved.Under international copyright laws, this manual or any portion of itmay not be copied—

Specifications and Controls14Figure 3-3. Pioneer 2 ConsoleRESET and MOTORSThe RESET (red) and MOTORS (white) push-button switches on the Pioneer 2 Co

Pioneer Mobile Robots15Under P2OS control when not connected with a client, pressing and releasing the MOTORS button putsPioneer 2 into joystick-drive

Quick Start16Quick StartPioneer 2 comes fully assembled and ready for action. This chapter describes how to operate the mobilerobot with the Saphira d

Pioneer Mobile Robots17Saphira Client Start-UpTo start the Saphira client demonstration program, first locate the executable: It’s inside the bin dire

Quick Start18waiting state. The sync number 3 is a special error code indicating you have a noisy communication line;you must reduce the noise level b

Pioneer Mobile Robots19Engage Pioneer 2’s motors (white MOTORS button) after connecting with a clientor the robot won’t move, no matter how excited yo

Quick Start20When manually joysticking the robot, each keypress moves the robot forward or backward faster or slowerand incrementally changes its dire

Pioneer Mobile Robots21instance, if you are using the InfoWave radio modems, the DCD lamp on the host should light up. If itdoesn't, it means it

Self Tests22Joystick Drive and Self-Test ModesBeginning with P2OS version 1.c, the Pioneer 2 may be tethered and manually driven via a common PCjoysti

Pioneer Mobile Robots23And there should be a shythmic beeping sound coming from the Console speaker. This is to alert you thatyou may have inadvertant

Pioneer Mobile RobotsiiiTable of ContentsCONGRATULATIONS ...

Self Tests24See Appendix A, “C166 Ports and Connections” for the location of the digital input ports (IDO-7) on thePioneer microcontroller.DIGOUT Test

Pioneer Mobile Robots25The basic Pioneer 2 has no attachments to the bump ports. Because their normal state is floating, the Bumpreadings may vary (us

Pioneer 2 Operating System26Pioneer 2 Operating SystemAll Pioneers use a client/server robotics architecture developed by Dr. Kurt Konolige, including

Pioneer Mobile Robots27Table 6-1. Main elements of PSOS communication packet protocolPacket Data TypesPacketized client commands and server informatio

Pioneer 2 Operating System28P2OS does not acknowledge receipt of a command packet nor does it have any facility to handle clientacknowledgment of a se

Pioneer Mobile Robots29Bumpersinteger Motor stall and bumper accessory indicators. Bit0 of the lsbyte is the left wheel stall indicator =1 if stalled.

Pioneer 2 Operating System30Checksum 2 computed Packet integrity checksumThe P2OS command is comprised of a one-byte command number optionally followe

Pioneer Mobile Robots31cm/sec incrementsGRIPPER 33 int Pioneer 1 and Pioneer 2 Gripperserver command. See the PioneerGripper manuals for details.4.0 1

Pioneer 2 Operating System32P2OS responds to each client command, forming a succession of identical synchronization packets. Theclient should listen f

Pioneer Mobile Robots33Pioneer in MotionWhen P2OS receives a P2OS server-translation or -rotation command, it accelerates the Pioneer robot atthe SETA

ivJOYSTICK DRIVE AND SELF-TEST MODES ...22JOYSTICK DRIVE ...

Pioneer 2 Operating System34You may reset the internal coordinates to 0,0,0 with the SETO P2OS command.Figure 6-3. Internal coordinate system for P2OS

Pioneer Mobile Robots35For example, the first Saphira statement queries for the current analog port and its A/D value. The secondSaphira command chang

Pioneer 2 Operating System36 Extended PacketsP2OS 1.4 introduces several new Server Information Packets to better support the Pioneer 2 roboticscommun

Pioneer Mobile Robots37/* Send command and retrieve response via P2OS AUX serial port */#define SERAUXpac 0xB0int serbytes, inbufptr;char inbuf[200];

Pioneer 2 Operating System38Standalone ModeAs mentioned in previous chapters, the Pioneer 2 microcontroller’s flash-PROM is reprogrammable.And there i

Pioneer Mobile Robots39Updating & Reconfiguring P2OSThe P2OS server software and its set of operating parameters get stored on the Pioneer 2 micro

Updating and Reconfiguring P2OS40Step 4: Run p2osdlWith Linux/UNIX systems, enter the p2os/ directory and execute p2osdl, using the following argument

Pioneer Mobile Robots41Colbert move command or other “goto position” client command (robot accelerates to that TransVelMaxand runs at that velocity un

Updating and Reconfiguring P2OS42Table 7-2. Pioneer 2 DX configuration parameters (P2OS 1.9)KEYWORDType Default DescriptionCONSTANTSCannot be changed

Pioneer Mobile Robots43TransKvinteger 60 see RotKvTransKiinteger 0 see RotKiJoyVelMaxinteger 600 Joystick drive maximum translation velocityJoyRVelMax

Pioneer Mobile RobotsvCALIBRATION TOOLS - REVCOUNTCAL AND COMPASSCAL... 43MAINTENANC

Updating and Reconfiguring P2OS44Saphira required. Compa

Pioneer Mobile Robots45Maintenance & RepairYour Pioneer 2 is built to last a lifetime and requires little maintenance.Drive LubricationThe drive m

Maintenance and Repair46Getting InsideWe normally discourage you from opening up your robot. However, on occasion, you may need to getinside your Pion

Pioneer Mobile Robots47Figure 8-2. Pioneer 2 AT Top Plate retaining screwsFactory RepairsIf, after reading this manual, you’re having hardware problem

Appendix A: Microcontroller Ports and Connections48Appendix AC166 Controller Ports & ConnectionsThis Appendix contains pinout and electrical speci

Pioneer Mobile Robots49Table A-1. Common serial cable connections to Pioneer 2Platform & Connector Pin 3 (Tx) Pin 5 (Rx) Pin 9 (Gnd)Sun Sparcstati

Appendix A: Microcontroller Ports and Connections50Note that the general-purpose I/O and analog-to-digital ports are shared with the onboard bus (belo

Pioneer Mobile Robots51Table A-5. General I/O Bus ConnectionsPin # Label Pin # Label1 P3_0 2 D03 P3_1 4 D15 P3_2 6 D27 P3_3 8 D39 P3_4 10 D411 P3_5 12

Appendix B: Joystick Connector52Appendix BMotor-Power Board ConnectorsThe Pioneer 2 has a separate Motor-Power Board which, in conjunction with the mi

Pioneer Mobile Robots53Onboard Computer OptionWith the "computer-ready" option (Figure B-2) available with the DX and AT models, the Pioneer

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Appendix B: Joystick Connector54Appendix CSaphira Parameter FilesSaphira consults a special parameters file to determine various operating parameters

Pioneer Mobile Robots55P2AT.p;;;; Parameters for the Pioneer 2 AT Mobile Robot;; AngleConvFactor 0.001534 ;radians per angular unit (2PI/4096)Dist

Appendix D: Joystick Connector56Appendix DJoystick ConnectorUse a 20-wire IDC-terminated ribbon cable to attach the 15-pin joystick connector to the U

Pioneer Mobile Robots57Appendix ESpecificationsPhysical Characteristics Pioneer 2 DX/CE Pioneer 2-ATLength 44cm 50cmWidth 33cm 49cmHeight (body)

Appendix E: Specifications58Traversable step max 2cm 8.9cmTraversable gap max 8.9cm 12.7cmTraversable slope max 25% grade 40% gradeTraversable terrain

Pioneer Mobile Robots59RADIO Radio modem or Ethernet SameSpeaker Piezo SameSerial comm port 9-pin RS-232 SameJoystick Drive Optional Standard

60IndexAA/D, 34ADSEL, 34Argument types, 30Assembly, 16Autoconfiguration, 32AUX, 36Ayllu, 5BBatteries, 11, 45Changing, 45Charge Cube, 13Charging, 45Hot

61Self-tests, 14Modes of OperationSelf-Test. See Self-TestServer. See P2OSStandalone. See StandaloneMotion commands, 32Motor-Power, 52Motor-Power boar

Range, 11Specifications, 8Stalls, 15stallval, 15stallwait, 15Standalone Mode, 38Start up, 31STATUS, 13subclass, 32Supportpioneer-support, 3SYNC, 31SYN

63Warranty & LiabilitiesYour Pioneer is fully warrantied against defective parts or assembly for one year after it is shippedto you from the facto

Pioneer Mobile Robots1Congratulationson your purchase of this Pioneer 2 Mobile Robot, and welcome to the rapidly growing communityof researchers, deve

44 Concord StreetPeterborough, NH 03458(603) 924-9100(603) 924-2184 faxhttp://www.activrobots.com

Congratulations2Ÿ Range-finding LaserŸ GPS SystemŸ CompassŸ Bumper RingŸ Serial cables for external connectionsUser-Supplied Components / System Requi

Pioneer Mobile Robots3SupportHave a problem? Can’t find the answer in this or any of the accompanying manuals? Or, do you knowa way that we might impr