Pioneer 3TM Manual Do Utilizador

 

 

laser 

l 

Displays the closest and furthest readings 
from the robot’s laser range finder 

io 

i 

Displays the state of the robot’s digital 
and analog-to-digital  I/O ports 

position 

p 

Displays the coordinates of the robot’s 
position relative to its starting location 

bumps 

b 

Displays the status of the robot’s bumpers 

sonar 

s 

Displays the robot’s sonar readings 

camera 

c 

Controls and exercises the robot’s pan-
tilt-zoom robotic camera 

gripper 

g 

Controls, exercises, and displays status of 
the robot’s Gripper 

wander 

w 

Sends the robot to move around at its own 
whim, while avoiding obstacles 

teleop 

t 

Allows the user to drive and steer the 
robot via the keyboard or a joystick 
connected to the computer 

 

ARIA prints out lots of diagnostic text as it negotiates a connection with the robot.  If 

successful, the client requests various AROS servers to start their activities, including sonar 
polling, position integration, and 

so on.   The microcontroller 

sounds an audible connection 
cue, and you should hear the 

robot’s sonar ping with a 

distinctive and repetitive 
clicking.  In addition, the 
motors-associated  STATUS LED 

on the User Control Panel should 

light continuously (was flashing 

slowly while awaiting 
connection).  Note that the 

ARIA demo automatically 

engages your robot’s motors 
though a special client 

command.   Normally, the 

motors are disengaged when 
first connecting. 

The amber SERIAL port 

indicator LEDs on the robot’s 

User Control Panel should blink 

to indicate ARIA-client to AROS-
server communications, too.   

 
 

 

When connected with the ARIA demo client, your robot becomes responsive and 

intelligent. For example, it moves cautiously.  Although it may drive toward an obstacle, 
your  ActivMedia robot will not crash because the ARIA demo includes obstacle-

avoidance behaviors which enable the robot to detect and actively avoid collisions.  

The  ARIA  demo  displays  a  menu  of  robot 
operation options.  The default mode of 
operation is teleop.  In teleop mode, you 

drive the robot manually, using the arrow 

keys on your keyboard or a joystick 
connected to the client PC’s joystick port 

(as opposed to a joystick port on the 

robot). 

KEY 

ACTION 

↑

Increment forward velocity 

↓

 

Decrement forward velocity 

←

 

Incremental left turn 

→

 

Incremental right turn 

All stop 

 

While driving from the keyboard, each 

keypress speeds the robot forward or 

backward or incrementally changes its 
direction incrementally.   For instance, when turning, it is often useful to press the left- or 

right-turn key rapidly several times in a row, because the turn increment is small. 

The other modes of ARIA demo operation give you access to your robot’s various sensors 
and accessories, including encoders, sonar, laser, Gripper, a pan-tilt-zoom robotic 

camera, I/O port states, bumpers, and more.  Accordingly, use the ARIA demo not only 

 

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