Related Manuals for ActivMedia Robotics Pioneer 2 TCM2
Summary of Contents for ActivMedia Robotics Pioneer 2 TCM2
- Page 1 Pioneer with Pioneer Server Operating System Software TCM2 Integrated Compass, Inclinometer, Magnetometer, & Thermometer...
- Page 2 Mention of any third-party hardware or software constitutes neither an endorsement nor a recommendation. ActivM , LLC EDIA OBOTICS 44 Concord Street, Peterborough, NH 03458, USA • www.ActivRobots.com 603-924-9100 • Fax 603-924-2184 Pioneer 2 TCM2 Manual, September 1999...
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Page 3: Table Of Contents
TCM2 Module Contents The P2 TCM2....................1 Pioneer 2 TCM2 Package .......................1 Package Components..........................1 User Supplied Components......................... 1 Basic Pioneer 2 Platform.........................1 The P2 TCM2 Module ........................2 Required Components........................2 Additional Resources ........................2 Pioneer Web Software Archive ........................2 Pioneer and Saphira Newsgroups ....................... 2 Support .............................. -
Page 5: The P2 Tcm2
Congratulations on your purchase and welcome to the rapidly growing community of researchers, developers, and enthusiasts of the Pioneer Mobile Robot. This Pioneer 2 TCM2 Manual provides the general and technical details you will need to install and operate your new TCM2 Module (Compass, Inclinometer, Magnetometer, and Thermometer) with your the Pioneer 2 Mobile Robot. -
Page 6: The P2 Tcm2 Module
Introduction The P2 TCM2 Module We have packaged and integrated the TCM2 Compass, Inclinometer, Magnetometer, and module from Precision Navigation, Inc. with the Pioneer 2 (P2) Mobile Robot system. The module attaches to the Auxiliary serial port on the P2 microcontroller for both signal and power. As part of the Pioneer 2 Operating System (P2OS version 1.6 and later), onboard software servers interface with the TCM2 Module electronics and sensors to fully manage their operations. -
Page 7: Support
TCM2 Module To: pioneer-users@ActivMedia.com From: <your return email address goes here> Subject: <something of interest to all members of pioneer-users> Access to the pioneer-users newslist is limited to subscribers, so your address is safe from spam. However, the list currently is unmoderated, so please confine your comments and inquiries to that concerning Pioneer operation and programming. -
Page 8: Installation
Installation Installation Please read through this chapter carefully before you attempt to attach the Pioneer 2 TCM2 Module to your Pioneer 2 Mobile Robot. The P2 TCM2 Module requires P2OS version 1.6 or later. Contact pioneer-support@ActivMedia.com if you need to update P2OS. -
Page 9: Step 3: Mount The Module To The Robot
TCM2 Module Otherwise (not recommended), use the hex wrenches that come with your robot to remove the Top Plate and expose the microcontroller connection ports. Do not remove the screws that attach the microcontroller board and the front sonar ring to the top plate (Figure 2-2 for DX /CE example). Figure 2-2. -
Page 10: Step 5: Test The Assembly
Installation that comes with the compass automatically enables the TCM2 Module by setting the compass parameter value to 2. If you use the generic p2osdl utility, also run the p2oscf utility and manually set the compass value to 2; it may otherwise be set to 0, which disables the TCM2 servers. In fact, reset the P2OS compass parameter to 0 if you remove or otherwise disable the Module, or if you plan to operate the TCM2 with software other than the supplied P2OS TCM2 servers. -
Page 11: Operation And Programming
TCM2 Module Operation and Programming The TCM2 Module comes fully integrated with the Pioneer 2 Mobile Robot’s systems and software. The latest versions of Pioneer 2’s operating servers, P2OS (version 1.6 and later), contain support for bi- directional communication through Pioneer’s AUX serial port by which you run the TCM2 Module, as well as state-based software control routines that manage the Module’s functions for you. -
Page 12: Mode 0
TCM2 Operation and Programming Table 3-2 TCM2 P2OS Command Set Argument (TCM2 P2OS Action Command Command) Module off (software only; not low-power standby) Compass only (default); reading in standard SIP Send single TCM2 SIP Send TCM2 SIPs continuous (~5 Hz) (TCM2) Enable user calibration Enable auto calibration... - Page 13 TCM2 Module Figure 3-1. TCM2’s compass reading automatically gets displayed in the Saphira 6.2 main window Table 3-3. TCM2 Server Information Packet Label Data Value/Description Header integer 0xFAFB byte 0xC0 Packet type byte 23; Number data bytes Compass integer 0-3649; compass heading relative to magnetic north in degrees times ten Pitch integer...
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Page 14: Calibration Modes 4-6
TCM2 Operation and Programming Calibration Modes 4-6 Place the TCM2 Module into User or Auto Calibration mode by sending the TCM2 server the P2OS command 45 with the argument 4 or 5, respectively. Stop either calibration mode by sending the TCM2 P2OS command with the argument 6 or 7. -
Page 15: Out-Of-Pioneer Operation
Linux or Hyperterminal for Microsoft Windows®. With the Pioneer 2 TCM2 package, we supply a serial and power adapter for the Module so you can make the right connections. Simply attach a 9 VDC battery to the adapter’s power socket, plug the Module’s cable into the 10-pin IDC connector, and attach a “pass-through”... -
Page 16: Maintenance & Repair
Maintenance and Repair Maintenance & Repair The Pioneer 2 TCM2 Module is built to last a lifetime and requires no maintenance. Factory Repairs If you are having hardware problems with your Pioneer and, after reading this manual, you are satisfied that it needs repair, here’s who to contact: pioneer-support@ActivMedia.com... -
Page 17: Index
TCM2 Module Appendix A P2OS Standard Server Information Packet Name Data Type Description Header integer Exactly 0xFA, 0xFB Byte byte Number of data bytes + 2; must be Count less than 201 (0xC9) Status byte = 0x3S; where S = Motors status sfSTATUSSTOPPED (1) Motors stopped... -
Page 18: Warranty & Liabilities
And under no circumstances will the developers, marketers, or manufacturers of Pioneer take responsibility for or support any special or custom modification to Pioneer. Pioneer 2 TCM2 Manual, August 1999. - Page 19 44 Concord Street Peterborough, NH 03458 (603) 924-9100 (603) 924-2184 fax http://www.ActivRobots.com...