Pioneer 3™ & Pioneer 2™ H8-Series Operations Manual
What is Pioneer? What Is Pioneer? Chapter 2 Pioneer is a family of mobile robots, both two-wheel and four-wheel drive, including the Pioneer 1 and Pio
ActivMedia Robotics ActivMedia robots, including Pioneer 3, Performance PeopleBot, and PowerBot, use a multifunctional Hitachi H8S-based microcontroll
What is Pioneer? AT8 Plus now come with a lower motor-gearhead reduction for faster speeds, even with much-improved turning power. CLIENT SOFTWARE Al
ActivMedia Robotics What’s more, it comes with source code so that you may examine the software and modify it for your own sensors and applications. S
What is Pioneer? Pioneer 1 and AT Figure 5. The original Pioneer 1s Intended mostly for indoor use on hard, flat surfaces, the Pioneer 1 had solid rub
ActivMedia Robotics performance 20 MHz Siemens 88C166-based microcontroller, with independent motor/ power and sonar-controller boards for a versatile
What is Pioneer? MODES OF OPERATION You may operate your Pioneer 2 and 3 robots in one of five modes: Server Joydrive Self-test Maintena
ActivMedia Robotics Specifications & Controls Chapter 3 ActivMedia’s Pioneer robots may be smaller than most, but they pack an impressive array of
Specifications and Controls MAIN COMPONENTS ActivMedia robots are composed of several main parts: Deck Motor Stop Button User Control Panel
ActivMedia Robotics User Control Panel The User Control Panel is where you have access to the AROS-based onboard microcontroller. Found inside the AT
Copyright © 2003, ActivMedia Robotics, LLC. All rights reserved. Under international copyright laws, this manual or any portion of it may not be
Specifications and Controls To engage AROS maintenance mode, press and hold the white MOTORS button, press and release the red RESET button, then rele
ActivMedia Robotics Each sonar array comes with its own driver electronics for independent control. Each array’s sonar are multiplexed; the sonar acq
Specifications and Controls and slide each battery out of its bay. Spring contacts on the robot’s battery power board alleviate the need for manually
ActivMedia Robotics DOCKING/CHARGING SYSTEM The Pioneer 3/PeopleBot docking/charging accessory is both a manual and an automated mechanism. Onboard c
Specifications and Controls mechanism. And the charging mechanism will not activate until you disengage the motors, either manually or programmatical
ActivMedia Robotics ONBOARD PC Unlike the original Pioneer 1, Pioneer 2 and 3 robots are designed to support an onboard, internally integrated PC for
Specifications and Controls The controls and ports use common connectors: standard monitor DSUB and PS/2 connectors on the mouse and keyboard. The E
ActivMedia Robotics 802.11b-compatible wireless Ethernet card in one of its slots. The wireless Ethernet antenna sits atop the top deck. To complete
Specifications and Controls below safe operating level of ~11 VDC.10,11 Genpowerd running on the onboard Linux system or ups.exe running under Window
ActivMedia Robotics Quick Start Chapter 4 This chapter describes how to quickly set up and operate your new ActivMedia robot with the ARIA demonstrati
ActivMedia Robotics Important Safety Instructions Read the installation and operations instructions before using the equipment. Avoid using pow
Quick Start Install Batteries Out of the box, your ActivMedia robot comes with its batteries fully charged, although shipped separately, unless you h
ActivMedia Robotics needed), by starting and testing the robot, and by connecting the client PC with the AROS controller via a serial link. Now it is
Quick Start A Successful Connection Table 2. ARIA demo operation modes MODE HOT KEY DESCRIPTION laser l Displays the closest and furthest reading
ActivMedia Robotics as a demonstration tool, but as a diagnostic one, as well, if you suspect a sensor or effector has failed or is working poorly. Ac
Quick Start To test for range limits, simply pick up the robot and move it closer to the basestation radio modem or access point. If the robot was o
ActivMedia Robotics Chapter 5 Joydrive and Self-Tests Although not all models come standard
Joydrive and Self Tests ENGAGING SELF-TESTS To enable self-test mode, press the white MOTORS button twice after startup or RESET.14 ATTENTION! Place
ActivMedia Robotics ActivMedia Robotics Operating System Chapter 6 All ActivMedia robots use a client-server mobile robot-control architecture origin
ActivMedia Robotics Operating System always first. Some data are strings of up to a maximum 200 bytes, prefaced by a length byte. Unlike common dat
ActivMedia Robotics SERVER INFORMATION PACKETS Like its PSOS and P2OS predecessors, AROS automatically and repeatedly sends a packet of information ov
Table of Contents CHAPTER 1 INTRODUCTION...
ActivMedia Robotics Operating System CLIENT COMMANDS AROS has a structured command format for receiving and responding to directions from a client f
ActivMedia Robotics DCHEAD 22 sint Heading setpoint relative to last setpoint; ± degrees (+ = ccw) 1.0 SETRA 23 sint Rotational (+)accelerati
ActivMedia Robotics Operating System to AUX2 H8S serial port GETAUX2 67 int Request to retrieve 1-200 bytes from the AUX2 H8S serial port; 0 flush
ActivMedia Robotics Autoconfiguration (SYNC2) AROS automatically sends robot configuration information back to the client following the last synchroni
ActivMedia Robotics Operating System With AROS versions 1.3 and later, many of the controller’s operating parameters return to their FLASH-based defa
ActivMedia Robotics ActivMedia Robots in Motion ActivMedia robots use position, as opposed to velocity, motion controls to translate the platform a ce
ActivMedia Robotics Operating System At the same time, AROS reports back to the client in the standard SIP the robot’s position and speed. Not all r
ActivMedia Robotics Consequently, we typically use a minimum value for Ki in the range of 0 to 10 for lightly to heavily loaded robots respectively. P
ActivMedia Robotics Operating System sonar array number one; numbers nine through 16 get added to the sequence for sonar array number two; 17-24 spec
ActivMedia Robotics Normally enabled (default was disabled in P2OS), change E_STALL by sending the AROS command #56. With argument of zero, E_STALL g
ActivMedia Robotics STARTING UP CLIENT AND SERVER ...
ActivMedia Robotics Operating System received a command from a client. Restarts on restoration of connection. P2MPACS byte 1 enables alternative SIP
ActivMedia Robotics For auto-baud, the HOST serial port automatically reverts to its FLASH default baud rate if, after being reset by the HOSTBAUD cli
ActivMedia Robotics Operating System Table 11. GRIPPERpac state byte BIT FUNCTION STATE 0 Grip limit Paddles fully open when 0; otherwise betwe
ActivMedia Robotics Onboard PC Communication between the onboard PC and the H8S microcontroller is RS232 serial through the respective COM1 (Windows)
ActivMedia Robotics Operating System modifications to the robot's heading are done on the client side, as supported in the latest versions (1.3
ActivMedia Robotics For example, here’s the AROS client command to set digital output ports one and three (OD1 and OD3), reset port four (OD4), and le
ActivMedia Robotics Operating System Expansion I/O Four alternative A/D ports appear at the 40-position Expansion I/O connector of the H8S microcontr
ActivMedia Robotics disengage the motors while charging, such as by disconnecting, you will have to re-engage them from the client or by manually pres
ActivMedia Robotics Operating System The "overcharge" bit ID7 is set (1) when the batteries are well below full charge and the charger is a
ActivMedia Robotics Updating & Reconfiguring AROS Chapter 7 The AROS software and a set of operating parameters for your ActivMedia robot get stor
AROSCF ...
Updating and Reconfiguring AROS Text prompts will help you get connected with your ActivMedia robot’s H8S-based controller and update its AROS server
ActivMedia Robotics Similarly, this Linux xterm command uploads a fresh copy of AROS to your robot’s H8S-based microcontroller and then exits, much l
Updating and Reconfiguring AROS See the respective control command and parameter Tables nearby for a full description of AROScf operation. Table 16
ActivMedia Robotics Table 17. AROS FLASH configuration parameters with values for Pioneer 3–DX KEYWORD Type Default Description CONSTANTS Should no
Updating and Reconfiguring AROS ROTKP int 30 Proportional PID for rotation ROTKV int 200 Differential PID for rotation ROTKI int 0 Integral PID
ActivMedia Robotics Ticksmm and revcount affect only the conversion of your motion command arguments into platform-dependent values. Your client must
Updating and Reconfiguring AROS Set the FrontBump and RearBump parameters to the number of bumper segments for the front and rear bumpers, repectivel
ActivMedia Robotics Maintenance & Repair Chapter 8 Your ActivMedia robot is built to last a lifetime and requires little maintenance. TIRE INFLATI
Maintenance and Repair to the charger and insert it into the charge socket that is just below your robot’s Main Power switch. The LEDs on the charge
ActivMedia Robotics Remove the small plastic plug which is near the hinge on the top plate and near the edge by the wheel. Under it, you will see the
ActivMedia Robotics Introduction Figure 1. Pioneer Mobile Robots first appeared commercially in 1995. Chapter 1 Congratulations on your purchase a
Maintenance and Repair Figure 22. Remove indicated screws from Pioneer 2- or 3-DX or -AT rear deck to open plate. Careful: The computer’s hard-drive
ActivMedia Robotics Appendix A H8S PORTS & CONNECTIONS Figure 23. Mini- and micro-fit style connector numbering This Appendix contains pinout and
Appendix A: Ports and Connections Serial Ports Two DSUB-9 and two 5-pin microfit sockets provide the HOST and AUX1/AUX2 auxiliary serial ports for
ActivMedia Robotics Lift direction Inner breakbeam IR 9 ID4 DIGIN bit 4; Left paddle contact 10 OD4 DIGOUT bit 4; Automated docking/charging “inhi
Appendix A: Ports and Connections Table 24. Bumper ports (10-pos latching IDC) PIN SIGNAL DESCRIPTION PIN SIGNAL DESCRIPTION 1 BP0 Bumper bit
ActivMedia Robotics Joystick Port An 8-position microfit socket provides signal lines for connection to an analog joystick. Indicated lines (*) are s
Appendix B: Motor-Power Board Connectors Appendix B Power Distribution ActivMedia Robotics’ original H8S-based Pioneer 2 robots have two separate boa
ActivMedia Robotics Table 28. Motor Temperature Sensors Connector (4-pos microfit) PIN SIGNAL DESCRIPTION 1 Vcc 5 VDC 2 T2 To AN2-based temp sensor
Appendix B: Motor-Power Board Connectors Table 32. User Power connector (12-pos latchlock; unswitched) PIN CONNECTION PIN CONNECTION 1 Vcc 7
ActivMedia Robotics Appendix C RADIO MODEM SETTINGS The radio modem-based wireless serial accessory comes pre-configured for use with your ActivMedia
Congratulations Global Positioning System Heading-correction gyro Compass Bumper rings Serial cables for external connections Many
Appendix D: Serial Ethernet Settings Appendix D SERIAL ETHERNET SETTINGS The Ethernet-to-Serial device settings are made at the factory and stored i
ActivMedia Robotics 2. Attach a cross-over serial cable between your PC and the serial port on th e device 3. Start minicom (Linux), HyperTerminal (
Appendix D: Serial Ethernet Settings Appendix E SPECIFICATIONS DXe DX8/P3DX AT/AT8 Perf PB PB V1 CE Physical Characteristics Leng
ActivMedia Robotics Sensors DXE DX8/P3DX AT/AT8 Perf PB PB V1 CE Sonar Front Array (one each side, six forward @ 20° intervals) 8 8 8 8 8 8 R
Warranty & Liabilities Your ActivMedia robot is fully warranted against defective parts or assembly for one year after it is shipped to you from
19 Columbia Drive Amherst, NH 03031 (603) 881-7960 (603) 881-3818 fax http://www.mobilerobots.com
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