Pioneer 2 / PeopleBot Manuel d'utilisateur télécharger pdf (Page 26)

Quick Start

For instance, the Windows© 9x/ME version is a self-extracting WinZip

archive. Simply

double-click its .EXE icon and follow the extraction program’s instructions.

The distribution archive decompresses into a Saphira\verxx directory of files.

Windows© 9x/ME users also need to set an environment variable in the C: (boot drive)

autoexec.bat file. Load the file with a simple text processor like WordPad and add the

line:

SET SAPHIRA=C:\Saphira\ver62

which is the default installation path to Saphira’s top-level directory. Then reboot.

Linux users should be sure they have permission to read/write through their PC’s serial port

that connects with the robot. The default is /dev/ttyS0. Saphira also requires X-

Window. If you have an onboard PC with Ethernet radio, export the X-Windows display

if you are operating the Saphira GUI from a remote X-terminal over the network.

With bash, for example:

%export DISPLAY=remote_computer:0

where remote_computer is the known hostname (/etc/hosts or DNS entry) or IP address

of the remote X-terminal.

Saphira Client Start-Up

To start the Saphira client demonstration program, first locate its executable: It’s inside

the bin directory that is in the top-level Saphira directory—typically

C:\Saphira\verxx\bin or /usr/local/saphira/verxx/bin. The demonstration program is

named saphira or saphira.exe.

For instance, with the mouse double-click the saphira.exe icon inside

C:\Saphira\ver62\bin on your Windows© 9x/ME desktop. On your UNIX or Linux

machine via an X-Windows terminal, navigate (cd) to the /usr/local/Saphira/

ver62/bin directory and type saphira, or ./saphira to execute the Saphira client

software there. We set the $

{PATH} for the onboard, Linux-based PC systems that we

install for you, so that you need only type saphira in an X-Window terminal to execute

the demonstration program.

If the demonstration program is installed and executed properly, a Saphira main window

should open and appear on your graphics screen. Otherwise, diagnostic error dialogs

will inform you of the problem. See Quickstart Troubleshooting below for additional tips.

Robot Cold Start-Up

Position your ActivMedia robot on the floor or ground in an open space. Slide the Main

Power switch up to ON. The red power indicator LED beneath the FLASH switch on the

Console should light. After a short P2OS initialization phase, the LCD on the control

panel then displays the current status, the Host serial port baud rate, the current P2OS

version number, and the battery charge, in volts. For example,

no conn 19.2 kB

P2OS v1.F 13.8*

The "heartbeat" asterisk character following the battery voltage should be flashing ON

and OFF.

Current verxx is ver62.

1 2 ... 21 22 23 24 25 26 27 28 29 30 31 ... 77 78

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Pioneer 2 / PeopleBot Manuel d'utilisateur Page 26

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