Pioneer Module Mobile Manuel d'utilisateur

Gripper&Experimenter’s ModuleManualversion 1.2

Overview62.4.3 SupportHave a problem? Can’t find the answer in this or any of the accompanying manuals?Know a way that we might improve Pioneer 1? Sha

Gripper & Experimenter’s Module73. Installationlease read through this chapter carefully before you attempt to attach the Gripper& Experimente

Installation8Figure 2-1. Pioneer 1 microcontroller card3.1.3 Step 3: Replace thePSOS EPROMLocate the EPROM/SRAM socket(Figure 2-2) on the microcontr

Gripper & Experimenter’s Module9press carefully, but firmly down on the chip with your thumb or forefinger to seat ittightly in the socket.3.1.4

Installation103.1.8 Step 8 Re-Attach the Console CablesCarefully handling the Console top plate with attached microcontroller by its edges,reattach

Gripper & Experimenter’s Module114. Gripper Operation and Programminghe Pioneer Gripper comes fully integrated with the robot’s systems and softw

Gripper Operation and Programming124.3 Gripper I/OThe Gripper’s single drive motor is controlled through two digital output lines andunder control of

Gripper & Experimenter’s Module13The revised PSOS 4.2 (and later) sfCOMDIGOUT command has a two-byteargument: The high byte is a mask of those ou

Gripper Operation and Programming14Table 3-2. Gripper functions/************************************************************** Gripper functions --- F

Gripper & Experimenter’s Module155. Experimenter’s Moduleesides hosting the Gripper, the Experimenter’s Module brings several newfeatures to the P

Gripper & Experimenter’s ModuleiiCopyright 1997, ActivMedia, Inc. All rights reserved.Under international copyright laws, this manual or any porti

Experimenter’s Module16Note also that the Nose (N) 16-pin and the General (G) 26-pin I/O connectors arenumbered odd pins on top and even pins on the b

Gripper & Experimenter’s Module175.1.1 Digin: Self-Test You may investigate the operation of the digital input and output ports through theirPSOS

Experimenter’s Module185.2 Programming the Digital I/O PortsUse the sfCOMDIGOUT PSOS command and the related Saphira conveniencecommand to manage the

Gripper & Experimenter’s Module196. Maintenance & Repairhe Pioneer Gripper is built to last a lifetime and requires little maintenance.6.1 Dr

207. Appendix AExample C Program Demonstrates Gripperand Speaker Functions/* ################################################################* grippe

Gripper & Experimenter’s Module21voidsfRobotCom2Bytes(int com, int high, int low){ sfRobotComInt(com, ((high & 0xff)<<8) + (low & 0

22/* gripper control bits (DIGOUTPUT) */#define sfGRIPSTATEMASK 0x05 /* picks out state bits in DIGOUTPUT */#define sfGRIPMOTORBIT 0x02 /* moto

Gripper & Experimenter’s Module23 case sfRIGHT: which = sfRIGHTLEDBIT; break; default: which = 0; } switch(state) {

248. Appendix BPioneer Server Information PacketName Data Type DescriptionHeaderint Exactly 0xFA, 0xFBByte Countbyte Number of data bytes + 2; must b

Gripper & Experimenter’s Module259. IndexAA/D, 18A/D port, 15ActivMedia, Inc., 2Additional Resources, 5Bbreak beams, 4Ccarry switch, 4COMDIGOUT, 1

iiiPioneer Gripper & Experimenter’s Module Manual version 1.2, August 1997.ContentsPage1. INTRODUCTION 11.1 Gripper and Experimenter’s Package 11.

26console removal, 7EPROM location, 7EPROM replacement, 7microcontroller removal, 7KKonolige, Kurt, 2LLEDs, 18Mmajordomo, 5microcontroller, 8More, Gri

Gripper & Experimenter’s Module27

28Warranty & LiabilitiesYour Pioneer 1 Mobile Robot and its accessories are fully warranted against defectiveparts or assembly for 90 days after i

iv4. EXPERIMENTER’S MODULE 154.1 I/O Ports 154.1.1 Digin: Self-Test 174.1.2 Digout: Self-Test 174.2 Programming the Digital I/O Ports 184.3 Programmin

Gripper & Experimenter’s Module11. Introductionongratulations on your purchase and welcome to the rapidlygrowing community of researchers, develop

Overview22.2 Basic Pioneer PlatformPioneer 1 is a small, mobile robot developed by Kurt Konolige of SRI Internationaland Grinnell More of Real World

Gripper & Experimenter’s Module3Figure 1-2 Pioneer Gripper side view.Figure 1-3. Pioneer Gripper top viewIn its fully down/open state, the two 2.5

Overview4In transition from the fully down/open position to their up/closed state, the Gripperpaddles close together horizontally until they pinch an

Gripper & Experimenter’s Module5digital ports. There also is circuitry and a connector for an as-yet-implemented remote-controller IR.A complete l