Pioneer 2TM Robotics User Manual


 
ActivMedia Robotics
STARTING UP CLIENT AND SERVER ...........................................................................................................24
Drive Self-Test.......................................................................................................................................24
Client Server Connection ......................................................................................................................24
Demo Startup Options...........................................................................................................................25
A Successful Connection .......................................................................................................................26
OPERATING THE ARIA DEMONSTRATION CLIENT.....................................................................................26
DISCONNECTING ........................................................................................................................................27
QUICKSTART TROUBLESHOOTING..............................................................................................................27
Proper Connections...............................................................................................................................27
SRIsim ...................................................................................................................................................28
CHAPTER 5 JOYDRIVE AND SELF-TESTS ........................................................................................29
JOYDRIVE MODE........................................................................................................................................29
ENGAGING SELF-TESTS..............................................................................................................................30
CHAPTER 6 ACTIVMEDIA ROBOTICS OPERATING SYSTEM.....................................................31
CLIENT-SERVER COMMUNICATION PACKET PROTOCOLS...........................................................................31
Packet Checksum...................................................................................................................................32
Packet Errors ........................................................................................................................................32
SERVER INFORMATION PACKETS ...............................................................................................................33
CLIENT COMMANDS...................................................................................................................................34
THE CLIENT-SERVER CONNECTION............................................................................................................36
Autoconfiguration (SYNC2)...................................................................................................................37
Opening the Servers—OPEN ................................................................................................................37
Keeping the Beat—PULSE....................................................................................................................37
Closing the Connection—CLOSE..........................................................................................................37
MOTION COMMANDS .................................................................................................................................38
ActivMedia Robots in Motion................................................................................................................39
Platform Dependent and Independent Variables ..................................................................................39
PID Controls .........................................................................................................................................40
Position Integration...............................................................................................................................41
SONAR .......................................................................................................................................................41
Enable/Disabling Sonar ........................................................................................................................41
Polling Sequence and Rate....................................................................................................................41
STALLS AND EMERGENCIES ........................................................................................................................42
ACCESSORY COMMANDS AND PACKETS ....................................................................................................43
Packet Processing .................................................................................................................................43
CONFIGpac and CONFIG Command ..................................................................................................44
SERIAL PORT COMMUNICATIONS................................................................................................................44
Changing Baud Rates and Autobauding ...............................................................................................44
HOST-to-AUX Serial Transfers.............................................................................................................45
ENCODER PACKETS ....................................................................................................................................45
Gripper packets.....................................................................................................................................45
Sounds ...................................................................................................................................................46
TCM2.....................................................................................................................................................46
Onboard PC ..........................................................................................................................................47
Heading Correction Gyro......................................................................................................................47
INPUT OUTPUT (I/O) ..................................................................................................................................48
User I/O.................................................................................................................................................48
Bumper and IR I/O................................................................................................................................49
IO packets..............................................................................................................................................49
Expansion I/O........................................................................................................................................50
DOCKING/CHARGING SYSTEM I/O .............................................................................................................50
Digital Port Controls.............................................................................................................................50
Docking/Charging Servers....................................................................................................................50
Monitoring the Recharge Cycle.............................................................................................................51
CHAPTER 7 UPDATING & RECONFIGURING AROS......................................................................53
WHERE TO GET AROS SOFTWARE ............................................................................................................53
AROS MAINTENANCE MODE ....................................................................................................................53
SIMPLE AROS UPDATES............................................................................................................................53
v