Table Of Contents - Pioneer 2 / PeopleBot Operation Manual

Table of Contents

CHAPTER 1 INTRODUCTION................................................................................................................. 1
R P ........................................................................................................................................ 1
OBOT ACKAGE
Basic Components (all shipments).......................................................................................................... 1
Optional Components and Attachments (partial list) ............................................................................. 1
User-Supplied Components / System Requirements ............................................................................... 2
A R
DDITIONAL ESOURCES
Software.................................................................................................................................................. 2
Newsgroups ............................................................................................................................................ 2
Support ................................................................................................................................................... 3
CHAPTER 2 WHAT IS PIONEER? .......................................................................................................... 4
C S ...................................................................................................................................... 4
LIENT OFTWARE
ActivMedia Robotics Basic Suite ...................................................................................... 5
ARIA ....................................................................................................................................................... 6
Saphira ................................................................................................................................................... 6
T P L ................................................................................................................................. 7
HE IONEER EGACY
Pioneer 1 ................................................................................................................................................ 7
Pioneer 2 and PeopleBot ........................................................................................................................ 7
M O ................................................................................................................................ 9
ODES OF PERATION
CHAPTER 3 SPECIFICATIONS & CONTROLS ................................................................................. 10
P C
HYSICAL HARACTERISTICS
M C .................................................................................................................................. 10
AIN OMPONENTS
Deck(s) and Console............................................................................................................................. 11
Body, Nose, and Accessory Panels ....................................................................................................... 12
Sonar Arrays with Gain Adjustment ..................................................................................................... 13
Motors and Position Encoders ............................................................................................................. 14
Batteries and Power ............................................................................................................................. 14
E ............................................................................................................................................ 14
LECTRONICS
Motor-Power Board ............................................................................................................................. 15
Microcontroller .................................................................................................................................... 15
Sonar Boards ........................................................................................................................................ 15
C , P ,
ONTROLS ORTS AND
Main Power, Fuse, and Indicator......................................................................................................... 15
Recharge/Power Port ........................................................................................................................... 15
Liquid-Crystal Display & Contrast Adjustment ................................................................................... 16
RESET and MOTORS ........................................................................................................................... 16
SERIAL ................................................................................................................................................. 17
RADIO .................................................................................................................................................. 17
FLASH .................................................................................................................................................. 17
P B S
EOPLE OT ENSORS AND
Pioneer 2 Arm-related SIPs and Commands ........................................... Error! Bookmark not defined.
S W
AFETY ATCHDOGS AND
CHAPTER 4 QUICK START................................................................................................................... 19
P A
REPARATIVE SSEMBLY
Saphira Client Installation ................................................................................................................... 19
S C S -U
APHIRA LIENT TART
R C S -U
OBOT OLD TART P
RADIO ON............................................................................................................................................ 21
S C -S
TARTING LIENT ERVER
iv
............................................................................................................................ 2
.................................................................................................................... 10
I ....................................................................................................... 15
NDICATORS
E STOP......................................................................................... 18
MERGENCY
C ............................................................................................. 18
ONFIGURATION
.......................................................................................................................... 19
...................................................................................................................... 20
P
........................................................................................................................... 20
C ......................................................................................... 21
OMMUNICATIONS