Manuels d'utilisation pour Pioneer 2 / PeopleBot

Table des matières

• Introduction

  7
  • Robot Package

    7
    • Basic Components (all shipments)

      7
    • Optional Components and Attachments (partial list)

      7
    • User-Supplied Components / System Requirements

      8
  • Additional Resources

    8
    • Software

      8
    • Newsgroups

      8
    • Support

      9
• What Is Pioneer?

  10
  • Client Software

    10
    • ActivMedia Robotics Basic Suite

      11
    • ARIA

      12
    • Saphira

      12
  • The Pioneer Legacy

    13
    • Pioneer 1

      13
    • Pioneer 2 and PeopleBot

      13
  • Modes of Operation

    15
• Specifications & Controls

  16
  • Physical Characteristics

    16
  • Main Components

    16
    • Deck(s) and Console

      17
    • Body, Nose, and Accessory Panels

      18
    • Sonar Arrays with Gain Adjustment

      19
    • Motors and Position Encoders

      20
    • Batteries and Power

      20
  • Electronics

    20
    • Motor-Power Board

      21
    • Microcontroller

      21
    • Sonar Boards

      21
  • Controls, Ports, and Indicators

    21
    • Main Power, Fuse, and Indicator

      21
    • Recharge/Power Port

      21
    • Liquid-Crystal Display & Contrast Adjustment

      22
    • RESET and MOTORS

      22
    • SERIAL

      23
    • RADIO

      23
    • FLASH

      23
  • PeopleBot Sensors and Emergency STOP

    24
    • Pioneer 2 Arm-related SIPs and Commands

      24
  • Safety Watchdogs and Configuration

    24
• Quick Start

  25
  • Preparative Assembly

    25
    • Saphira Client Installation

      25
  • Saphira Client Start-Up

    26
  • Robot Cold Start-Up

    26
    • RADIO ON

      27
  • Starting Client-Server Communications

    27
  • A Successful Connection

    27
  • Operating the Saphira Demonstration Client

    28
  • Disconnecting Serial Communications (intentionally or unintentionally)

    29
  • Quickstart Troubleshooting

    29
• Joydrive and Self-Tests

  31
  • Joystick Connection

    31
  • Joydrive Operation

    31
  • Engaging Self-Tests

    32
  • Motors Test

    32
  • Sonar Test

    33
  • Bumpers

    33
  • Gripper

    33
  • Compass

    33
  • DIGIN and DIGOUT Test

    34
  • ANALOG Tests

    34
  • User PWMs

    34
• Pioneer 2 Operating System

  35
  • Communication Packet Protocol

    35
    • Packet Data Types

      36
    • Packet Checksum

      36
    • Packet Errors

      36
  • Server Information Packets

    38
  • Client Commands

    38
    • Client Command Argument Types

      40
    • Saphira Client Command Support

      41
  • Programming P2OS

    41
    • Establishing a Client-Server Connection—SYNC

      41
    • Autoconfiguration

      41
    • Opening the Servers—OPEN

      41
    • Keeping the Beat—PULSE

      42
    • Closing the Connection—CLOSE

      42
  • Movement Commands

    42
    • Pioneer in Motion

      43
    • PID Controls

      43
    • Position Integration

      44
  • Sonar

    44
  • BUMP_STALL

    45
  • E_STOP and E_STALL

    45
  • Extended Packets

    46
    • Packet Processing

      46
    • CONFIGpac and CONFIG Command

      46
    • SERAUXpac and GETAUX

      47
    • ENCODERpac and ENCODER Command

      48
    • GRIPPERpac and GRIPREQUEST

      48
    • PLAYLISTpac and PLAYLIST Command

      48
    • TCM2pac and TCM2 Command

      49
  • Input / Output (I/O)

    49
    • DIGIN, TIMER, and ADSEL

      49
    • DIGOUT and PSUPOS

      50
    • IOpac and IOREQUEST

      50
    • Pioneer 2 Arm-related SIPs and Commands

      51
  • Performance PeopleBot IRs

    51
• Updating & Reconfiguring P2OS

  52
  • Where to Get P2OS Software

    52
  • Installing the P2OS Utilities

    52
  • Updating P2OS

    52
    • Step 1. Serial Connection from Computer to Robot

      52
    • Step 2: Enable FLASH

      53
    • Step 3: Put Microcontroller into Download Mode

      53
    • Step 4: Run p2osdl

      53
    • Download Troubleshooting

      53
  • Configuring P2OS Operating Parameters

    54
    • Steps 1–3: Preparing for Configuration

      54
    • Step 4: Run p2oscf

      54
    • Step 5: Changing Configuration Parameters

      54
    • Step 6: Save Your Work

      55
  • Editing P2OS Parameters

    55
  • Saving and Restoring

    56
  • Arm Parameters

    56
  • PID Parameters

    58
  • Encoder and Revcount

    58
  • Calibration Tools - revcountcal and compasscal

    59
• Maintenance & Repair

  61
  • Drive Lubrication

    61
  • Batteries

    61
    • Changing Batteries

      61
    • Hot-Swapping the Batteries

      61
    • Charging the Battery

      61
    • Alternative Battery Chargers

      62
  • Getting Inside

    62
    • Removing the Nose

      62
    • Opening the Deck

      63
  • Factory Repairs

    63
• Appendix A

  65
  • Internal Serial Connectors

    66
  • User I/O Expansion Port

    66
  • Performance PeopleBot I/O

    67
  • The General I/O Bus

    68
• Appendix B

  69
  • User Power Connections

    69
  • Onboard Computer Option

    69
    • Power Switch (J7) and Delayed Shutdown Logic

      69
    • Power-State Logic

      70
    • Computer Power

      70
• Appendix C

  71
  • Joystick Connector

    71
• Appendix D

  72
  • Specifications

    72
• Index

  74
• Warranty & Liabilities

  76