Pioneer 3TM User Manual

ActivMedia Robotics 

The User Control Panel is where you have access to the AROS-based onboard 

microcontroller.  Found inside the AT’s hinged access panel on the deck or on the left-
side  panel  of  the  DX,  it  consists  of  control  buttons  and  indicators,  and  an  RS232-

compatible serial port with a 9-pin DSUB connector. 

The red PWR LED is lit whenever main power is applied to the robot.  The green STAT LED 

state depends on the operating mode and other conditions.  It flashes slowly when the 

controller is awaiting a connection with a client and flashes quickly when in joydrive 
mode or when connected with a client and the motors are engaged.  It also flashes 

moderately fast when the controller is in maintenance mode. 

The BATTERY LED’s apparent color depends on your robot’s battery voltage: green when 

fully charged (>12.5 volts) through orange, and finally red when the voltage is below 

11.5.  When in maintenance mode, however, the BATTERY LED glows bright red only, 
regardless of battery charge. 

A built-in piezo buzzer (audible through the holes just above the STAT and PWR LEDs) 

provides audible clues to the robot’s state, such as upon successful startup of the 

controller and a client connection.  An AROS client command lets you program the 

buzzer, too, to play your own sounds. 

 

 

The SERIAL connector, with incoming 

and outgoing data indicator LEDs (RX 
and TX, respectively), is through where 

you may interact with the H8S 

microcontroller from an offboard 

computer for tethered client-server 
control and for AROS system 

maintenance.  The port is shared 
internally by the HOST serial port, to 

which we connect the onboard 
computer or radio modem/Ethernet.  

Digital switching circuitry disables the 
internal HOST serial port if the computer 

or 

radio modem is OFF.  However, serial 

port interference will be a problem if 
the HOST and User Control SERIAL ports 

are both occupied and engaged.  
Accordingly, remove the cable from 
the SERIAL port if you plan to connect 

with the controller through the onboard 

radio modem or PC. 

RADIO and AUX are pushbutton switches which engage or disengage power to the 

respective devices on the Motor/Power Interface board.  See Appendix B for power 

connections.  Respective red LEDs indicate when power is ON. 

The red RESET pushbutton acts to unconditionally reset the H8S controller, disabling any 

active connections or controller-attached devices, including the motors. 

The white MOTORS pushbutton’s actions depend on the state of the controller.  When 

connected with a client, push it to manually enable and disable the motors, as its label 

implies.  When not connected, press the pushbutton once to enable joydrive mode, and 

again to enable the motors self-test. 

 

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