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Table of Contents
CHAPTER 1 INTRODUCTION................................................................................................................. 1
ROBOT PACKAGE ........................................................................................................................................ 1
Basic Components (all shipments).......................................................................................................... 1
Optional Components and Attachments (partial list) ............................................................................. 1
User-Supplied Components / System Requirements ............................................................................... 2
ADDITIONAL RESOURCES............................................................................................................................ 2
Software.................................................................................................................................................. 2
Newsgroups ............................................................................................................................................ 2
Support ................................................................................................................................................... 3
CHAPTER 2 WHAT IS PIONEER? .......................................................................................................... 4
CLIENT SOFTWARE...................................................................................................................................... 4
ActivMedia Robotics Basic Suite ...................................................................................... 5
ARIA ....................................................................................................................................................... 6
Saphira ................................................................................................................................................... 6
THE PIONEER LEGACY................................................................................................................................. 7
Pioneer 1 ................................................................................................................................................ 7
Pioneer 2 and PeopleBot........................................................................................................................ 7
MODES OF OPERATION................................................................................................................................9
CHAPTER 3 SPECIFICATIONS & CONTROLS ................................................................................. 10
PHYSICAL CHARACTERISTICS.................................................................................................................... 10
MAIN COMPONENTS.................................................................................................................................. 10
Deck(s) and Console............................................................................................................................. 11
Body, Nose, and Accessory Panels....................................................................................................... 12
Sonar Arrays with Gain Adjustment..................................................................................................... 13
Motors and Position Encoders ............................................................................................................. 14
Batteries and Power ............................................................................................................................. 14
ELECTRONICS............................................................................................................................................ 14
Motor-Power Board ............................................................................................................................. 15
Microcontroller .................................................................................................................................... 15
Sonar Boards........................................................................................................................................ 15
CONTROLS, PORTS, AND INDICATORS ....................................................................................................... 15
Main Power, Fuse, and Indicator......................................................................................................... 15
Recharge/Power Port ........................................................................................................................... 15
Liquid-Crystal Display & Contrast Adjustment ................................................................................... 16
RESET and MOTORS........................................................................................................................... 16
SERIAL ................................................................................................................................................. 17
RADIO.................................................................................................................................................. 17
FLASH.................................................................................................................................................. 17
PEOPLEBOT SENSORS AND EMERGENCY STOP......................................................................................... 18
Pioneer 2 Arm-related SIPs and Commands...........................................Error! Bookmark not defined.
SAFETY WATCHDOGS AND CONFIGURATION............................................................................................. 18
CHAPTER 4 QUICK START................................................................................................................... 19
PREPARATIVE ASSEMBLY.......................................................................................................................... 19
Saphira Client Installation ................................................................................................................... 19
SAPHIRA CLIENT START-UP...................................................................................................................... 20
ROBOT COLD START-UP ........................................................................................................................... 20
RADIO ON............................................................................................................................................ 21
STARTING CLIENT-SERVER COMMUNICATIONS......................................................................................... 21
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