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CHAPTER 1 INTRODUCTION ROBOT PACKAGE Basic Components (all shipments) Optional Components and Attachments (partial list) User-Supplied Components / System Requirements ADDITIONAL RESOURCES Software Newsgroups Support CHAPTER 2 WHAT IS PIONEER? CLIENT SOFTWARE ActivMedia Robotics Basic Suite ARIA Saphira THE PIONEER LEGACY Pioneer 1 Pioneer 2 and PeopleBot MODES OF OPERATION CHAPTER 3 SPECIFICATIONS & CONTROLS PHYSICAL CHARACTERISTICS MAIN COMPONENTS Deck(s) and Console Body, Nose, and Accessory Panels Sonar Arrays with Gain Adjustment Motors and Position Encoders Batteries and Power ELECTRONICS Motor-Power Board Microcontroller Sonar Boards CONTROLS, PORTS, AND INDICATORS Main Power, Fuse, and Indicator Recharge/Power Port Liquid-Crystal Display & Contrast Adjustment RESET and MOTORS SERIAL RADIO FLASH PEOPLEBOT SENSORS AND EMERGENCY STOP Pioneer 2 Arm-related SIPs and Commands...........................................Error! Bookmark not defined. SAFETY WATCHDOGS AND CONFIGURATION CHAPTER 4 QUICK START PREPARATIVE ASSEMBLY Saphira Client Installation SAPHIRA CLIENT START-UP ROBOT COLD START-UP RADIO ON STARTING CLIENT-SERVER COMMUNICATIONS iv ActivMedia Robotics A SUCCESSFUL CONNECTION OPERATING THE SAPHIRA DEMONSTRATION CLIENT DISCONNECTING SERIAL COMMUNICATIONS (INTENTIONALLY OR UNINTENTIONALLY) QUICKSTART TROUBLESHOOTING CHAPTER 5 JOYDRIVE AND SELF-TESTS JOYSTICK CONNECTION JOYDRIVE OPERATION ENGAGING SELF-TESTS MOTORS TEST SONAR TEST BUMPERS GRIPPER COMPASS DIGIN AND DIGOUT TEST ANALOG TESTS USER PWMS CHAPTER 6 PIONEER 2 OPERATING SYSTEM COMMUNICATION PACKET PROTOCOL Packet Data Types Packet Checksum Packet Errors SERVER INFORMATION PACKETS CLIENT COMMANDS Client Command Argument Types Saphira Client Command Support PROGRAMMING P2OS Establishing a Client-Server Connection--SYNC Autoconfiguration Opening the Servers--OPEN Keeping the Beat--PULSE Closing the Connection--CLOSE MOVEMENT COMMANDS Pioneer in Motion PID Controls Position Integration SONAR BUMP_STALL E_STOP AND E_STALL EXTENDED PACKETS Packet Processing CONFIGpac and CONFIG Command SERAUXpac and GETAUX ENCODERpac and ENCODER Command GRIPPERpac and GRIPREQUEST PLAYLISTpac and PLAYLIST Command TCM2pac and TCM2 Command INPUT / OUTPUT (I/O) DIGIN, TIMER, and ADSEL DIGOUT and PSUPOS IOpac and IOREQUEST Pioneer 2 Arm-related SIPs and Commands PERFORMANCE PEOPLEBOT IRS CHAPTER 7 UPDATING & RECONFIGURING P2OS WHERE TO GET P2OS SOFTWARE INSTALLING THE P2OS UTILITIES UPDATING P2OS Step 1. Serial Connection from Computer to Robot v Step 2: Enable FLASH Step 3: Put Microcontroller into Download Mode Step 4: Run p2osdl Download Troubleshooting CONFIGURING P2OS OPERATING PARAMETERS Steps 13: Preparing for Configuration Step 4: Run p2oscf Step 5: Changing Configuration Parameters Step 6: Save Your Work EDITING P2OS PARAMETERS SAVING AND RESTORING ARM PARAMETERS PID PARAMETERS ENCODER AND REVCOUNT CALIBRATION TOOLS - REVCOUNTCAL AND COMPASSCAL CHAPTER 8 MAINTENANCE & REPAIR DRIVE LUBRICATION BATTERIES Changing Batteries Hot-Swapping the Batteries Charging the Battery Alternative Battery Chargers GETTING INSIDE Removing the Nose Opening the Deck FACTORY REPAIRS FACTORY REPAIRS APPENDIX A INTERNAL SERIAL CONNECTORS USER I/O EXPANSION PORT PERFORMANCE PEOPLEBOT I/O THE GENERAL I/O BUS APPENDIX B USER POWER CONNECTIONS ONBOARD COMPUTER OPTION Power Switch (J7) and Delayed Shutdown Logic Power-State Logic Computer Power APPENDIX C JOYSTICK CONNECTOR APPENDIX D SPECIFICATIONS INDEX WARRANTY & LIABILITIES

Pioneer 2 / PeopleBot Operations Manual for P2OS-based ActivMedia Robots TM PIONEER 2-DXE PIONEER 2-AT PEOPLEBOT TM