Pioneer 2 / PeopleBot Operation Manual page 73

Sensors
Sonar Front Array
(one each side,
six forward @ 20°
intervals)
Rear Sonar Array
(one each side,
six rear @ 20°
intervals)
Top Deck Sonar
(one each side,
six rear @ 20°
intervals)
Encoders (2 ea)
39,400
counts/rev
counts/mm
counts/rotation 18,400
Controls and Ports
Main Power
!
Charge Port !
Joydrive Optional
Microcontroller and Console Controls & Ports
Processor Siemens 8C166 (20 MHz)
LCD 32 characters on 2 lines
Encoder inputs 4
Audio Piezo buzzer
PWM outputs 8 (4 user-available)
Sonar inputs 2x8 (multiplexed)
Digital I/O 16 logic ports; 8 in, 8 out
A/D 5 @ 0-5 VDC; 1024- or 256-bit resolution
Digital timers 8 @ 1µsec resolution;
FLASH PROM 32 KB; P2OS and robot-specific parameters
RAM 32 KB
Power switches 1 main; 1 RADIO
Comm ports 2 RS-232 serial internal; 1 RS-232 external
Power (internal
12 VDC @ 1A switched;
comm. ports)
Logic
RESET and MOTORS
pushbuttons
Indicator LEDs Main power; RADIO power; Host SERIAL RxD and TxD
DXe DX
8 8
8 8
na na
39,400
66 76
20,000
! !
! !
Optional Standard
5 VDC @ 3A
Perf PB
AT
8 8
8 8
na 8
34,000 76,600
49 128
22,500 33,500
!
!
Standard
switched
ActivMedia Robotics
CE
PB V1
8 8
8 na
8 na
76,600 39,400
148 76
39,000 18,400
!
!
! !
Optional Optional
67