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Gripper & Experimenter’s Module
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4. Gripper Operation and Programming
he Pioneer Gripper comes fully integrated with the robot’s systems and software.
The latest versions of PSOS (4.2+) contains support for direct control of the
Pioneer’s onboard I/O that run the Gripper functions, as well as state-based
software control routines that manage the Gripper functions for you. In turn, these PSOS
functions are supported in Saphira (version 5.3+), the Pioneer Application Interface
(PAI), and Pioneer-LOGO. Consult the various Pioneer-related Operation and Software
Manuals for more details about PSOS, Saphira, PAI, and P-LOGO.
4.1 Gripper Self Test
Gripper-enabled versions of PSOS come with test routines for all the main functions
of the robot. This section describes the Gripper’s self-test. Consult
the Pioneer 1
Operations and Software Manual
for a detailed description of the location and operation
of the various Console function buttons and switches and for how to test the drive and
I/O systems, sonars, and processor.
Make sure the Pioneer motors are disengaged,
if you perform the Gripper self-test on a table top.
The Gripper self-test happens whenever you turn the Main Power on or press the Reset
button. The exercise first drives the Gripper Bar and paddles to their fully down and open
state, and then back up to their fully up and closed state.
Always place Pioneer 1 on the floor and have everyone step back
before engaging the motors.
You may also test the Gripper’s open, up, and carry state switches. See the
Experimenter’s Module, Digin I/O test mode section in Chapter 4 for details.
4.2 PSOS Server Information Packet
PSOS regularly sends Pioneer server information to a connected client over the serial
communication line. Included in that Server Information Packet are the various states and
readings from the Gripper and the Experimenter’s Module I/O. A summary of the PSOS
Server Information Packet is in the Appendix B. These various readings may be captured
and individually read by the client, or you may use the various Saphira, PAI, or P-LOGO
functions to manage the packet and read the values for you.
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