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ActivMedia Robotics
A SUCCESSFUL CONNECTION.....................................................................................................................21
OPERATING THE SAPHIRA DEMONSTRATION CLIENT.................................................................................22
DISCONNECTING SERIAL COMMUNICATIONS (INTENTIONALLY OR UNINTENTIONALLY)....................................23
QUICKSTART TROUBLESHOOTING..............................................................................................................23
CHAPTER 5 JOYDRIVE AND SELF-TESTS ........................................................................................25
JOYSTICK CONNECTION .............................................................................................................................25
JOYDRIVE OPERATION ...............................................................................................................................25
ENGAGING SELF-TESTS..............................................................................................................................26
MOTORS TEST............................................................................................................................................26
SONAR TEST...............................................................................................................................................27
BUMPERS ...................................................................................................................................................27
GRIPPER.....................................................................................................................................................27
COMPASS ...................................................................................................................................................27
DIGIN AND DIGOUT TEST.......................................................................................................................28
ANALOG TESTS.......................................................................................................................................28
USER PWMS..............................................................................................................................................28
CHAPTER 6 PIONEER 2 OPERATING SYSTEM................................................................................29
COMMUNICATION PACKET PROTOCOL.......................................................................................................29
Packet Data Types.................................................................................................................................30
Packet Checksum...................................................................................................................................30
Packet Errors ........................................................................................................................................30
SERVER INFORMATION PACKETS ...............................................................................................................32
CLIENT COMMANDS...................................................................................................................................32
Client Command Argument Types.........................................................................................................34
Saphira Client Command Support.........................................................................................................35
PROGRAMMING P2OS................................................................................................................................35
Establishing a Client-Server Connection—SYNC .................................................................................35
Autoconfiguration..................................................................................................................................35
Opening the Servers—OPEN ................................................................................................................35
Keeping the Beat—PULSE....................................................................................................................36
Closing the Connection—CLOSE..........................................................................................................36
MOVEMENT COMMANDS............................................................................................................................36
Pioneer in Motion..................................................................................................................................37
PID Controls .........................................................................................................................................37
Position Integration...............................................................................................................................38
SONAR .......................................................................................................................................................38
BUMP_STALL.........................................................................................................................................39
E_STOP AND E_STALL...........................................................................................................................39
EXTENDED PACKETS..................................................................................................................................40
Packet Processing .................................................................................................................................40
CONFIGpac and CONFIG Command..................................................................................................40
SERAUXpac and GETAUX ...................................................................................................................41
ENCODERpac and ENCODER Command...........................................................................................42
GRIPPERpac and GRIPREQUEST.......................................................................................................42
PLAYLISTpac and PLAYLIST Command..............................................................................................42
TCM2pac and TCM2 Command ...........................................................................................................43
INPUT / OUTPUT (I/O) ................................................................................................................................43
DIGIN, TIMER, and ADSEL.................................................................................................................43
DIGOUT and PSUPOS .........................................................................................................................44
IOpac and IOREQUEST .......................................................................................................................44
Pioneer 2 Arm-related SIPs and Commands.........................................................................................45
PERFORMANCE PEOPLEBOT IRS ................................................................................................................45
CHAPTER 7 UPDATING & RECONFIGURING P2OS........................................................................46
WHERE TO GET P2OS SOFTWARE .............................................................................................................46
INSTALLING THE P2OS UTILITIES..............................................................................................................46
UPDATING P2OS........................................................................................................................................46
Step 1. Serial Connection from Computer to Robot ..............................................................................46
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