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PID parameters, 52
Programming, 35
Restoring parameters, 50
revcount parameter, 52
Saving parameters, 50
Troubleshooting, 47
Updating, 46
P2OS commands, 34
p2oscf, 48
Commands, 49
Restore, 50
Save, 50
p2osdl, 47
Packets
Checksum, 30
CONFIGpac, 41
Configuration, 41
Data types, 30
ENCODERpac, 42
Errors, 30
Extended, 40
GRIPPERpac, 42
IOpac, 44
PLAYLISTpac, 42
Processing, 40
Protocols, 30
SERAUXpac, 41
TCM2pac, 43
Payloads, 10
PeopleBot, 8
I/O, 61
PeopleBot sensors, 18, 45
Physical characteristics, 10
PID parameters, 52
Pioneer 1, 7
Pioneer 2, 8
Pioneer 2 Operating System,
8
Pioneer 2-AT, 8
Pioneer 2-CE, 7
Pioneer 2-DX, 7
Pioneer 2-DXE, 8
Pioneer AT, 7
Pioneer Server Operating
System, 7
PLAYLIST, 42
PLAYLISTpac, 42
POLLING, 38
Ports
Joystick, 65
Power, 63
Fuse, 15
Main, 15
User, 63
Power board, 15
PSOS, 7
PTUPOS, 44
PULSE, 36
PWM, 44
Quick Start, 19
Radio POWER, 17
RC-Servos, 44
Recharge, 15
Recharger, 14
Repairs, 55, 58
Authorization, 58
RESET, 16
Resources, 2
revcount, 52, 53
revcountcal, 53
Robot parameters, 49
ROM. See FLASH
Rotation, 36
RVEL, 36
Safety, iii
Safety Watchdog, 18
Saphira, 6
Connection, 21
Disconnecting, 23
Errors, 23
Installation, 19
Main display, 22
Operation, 22
Problems, 23
Servers, 29
Startup, 20
Saphira.h, 35
Self-Tests, 25
Analog, 28
Bumpers, 27
Compass, 27
Digital I/O, 28
Enabling, 26
Gripper, 27
Motors, 26
PWM, 28
Sonar, 27
SERAUXpac, 41
Serial
Auxiliary port, 60
Console Port, 59
Host port, 60
Internal ports, 60
SERIAL port, 17
Serial ports
AUX, 41
Server Information Packets,
32
Servers, 29
ADSEL, 43
Autoconfiguration, 35
BUMP_STALL, 39
CLOSE, 36
DCHEAD, 36
DHEAD, 36
DIGOUT, 44
E_STALL, 39
E_STOP, 39
ENCODER, 42
GRIPREQUEST, 42
IOREQUEST, 44
OPEN, 35
PLAYLIST, 42
POLLING, 38
Position integration, 38
PTUPOS, 44
PULSE, 36
SETO, 36
SETRA, 36
SETRV, 36
Shut down, 35
Start up, 35
SYNC, 35
TCM2, 43
VEL, 36
VEL2, 36
SETO, 36
SETRA, 36
SETRV, 36
Simulator, 6
Software, 4
Software download, 2
Software downloads, 5
Sonar, 38
Firing rate, 13
ON-OFF, 38
Sonar, 13
Sonar Gain, 13
Specifications, 10
Stalls, 18
stallval, 18
stallwait, 18
STATUS, 16
Support, 3
SYNC, 35
Tabletop sensors, 18
TCM2, 27, 43
Timer, 43
Trainer, 6
Translation, 36
Troubleshooting, 23
User I/O, 25, 43
Analog, 28
Digin, 28
Digout, 28
PWM, 28
User I/O Ports, 60
Analog, 61
Digital, 61
User power, 63
Vector
2X, 53
TCM2, 53
VEL, 36
VEL2, 36
Wait State, 21
watchdog, 18
WorldPass, 5
69