Pioneer 2TM - Manuals

Activ Media Robotics Introduction Figure 1. Pioneer Mobile Robots first appeared commercially in 1995. Chapter 1 Congratulations on your purchase and welcome to the rapidly growing community of developers and enthusiasts of Activ Media Robotics’ intelligent mobile robots. This Pioneer 3 & Pionee...

Congratulations Global Positioning System Heading-correction gyro Compass Bumper rings Serial cables for external connections Many more… User-Supplied Components / System Requirements Client PC: 586-class or later PC with Microsoft Windows© or RedHat © Linux OS One RS-232-compatible serial port or E...

Activ Media Robotics Access to the pioneer-users newslist is limited to subscribers, so your address is safe from spam. However, the list currently is unmoderated, so please confine your comments and inquiries to issues concerning the operation and programming of Pioneer or PeopleBot robots. Support...

What is Pioneer? What Is Pioneer? Chapter 2 Pioneer is a family of mobile robots, both two-wheel and four-wheel drive, including the Pioneer 1 and Pioneer AT, Pioneer 2™ -DX, -DXe, -DXf, -CE, -AT, the Pioneer 2™-DX8/Dx8 Plus and -AT8/AT8 Plus , and the newest Pioneer 3-DX and - AT mobile robots. The...

What is Pioneer? AT8 Plus now come with a lower motor-gearhead reduction for faster speeds, even with much-improved turning power. C LIENT S OFTWARE All Activ Media robots operate as the server in a client-server environment: Their controllers handle the low-level details of mobile robotics, includi...

Activ Media Robotics What’s more, it comes with source code so that you may examine the software and modify it for your own sensors and applications. Saphira Saphira, including the Colbert language, is a full-featured robotics control environment developed at SRI International’s Artificial Intellige...

Activ Media Robotics performance 20 MHz Siemens 88C166-based microcontroller, with independent motor/ power and sonar-controller boards for a versatile operating environment. The controller had two RS232-standard communications ports and an expansion bus to support the many accessories available for...

What is Pioneer? M ODES OF O PERATION You may operate your Pioneer 2 and 3 robots in one of five modes: Server Joydrive Self-test Maintenance Standalone Server Mode The Pioneer H8S microcontroller comes with fully programmable 128K FLASH and 32K dynamic RAM included in its Hitachi 18 MHz H8S/2357 mi...

Activ Media Robotics Specifications & Controls Chapter 3 Activ Media’s Pioneer robots may be smaller than most, but they pack an impressive array of intelligent mobile robot capabilities that rival bigger and much more expensive machines. For example, the Pioneer 3-DX with onboard PC is a fully ...

Specifications and Controls M AIN C OMPONENTS Activ Media robots are composed of several main parts: Deck Motor Stop Button User Control Panel Body, Nose, and Accessory Panels Sonar Array(s) Motors, Wheels, and Encoders Batteries and Power Deck Figure 10. Components of the Pioneer 3 The original Pio...

Activ Media Robotics User Control Panel The User Control Panel is where you have access to the AROS-based onboard microcontroller. Found inside the AT’s hinged access panel on the deck or on the left-side panel of the DX, it consists of control buttons and indicators, and an RS232- compatible serial...

Specifications and Controls To engage AROS maintenance mode, press and hold the white MOTORS button, press and release the red RESET button, then release MOTORS. In the future, the white MOTORS button may engage other modes, such as when in AROS standalone mode. Body, Nose, and Accessory Panels Your...

Activ Media Robotics Each sonar array comes with its own driver electronics for independent control . Each array’s sonar are multiplexed; the sonar acquisition rate is adjustable, normally set to 25 Hz (40 milliseconds per sonar per array). Sensitivity ranges from ten centimeters (six inches) to ove...

Specifications and Controls and slide each battery out of its bay. Spring contacts on the robot’s battery power board alleviate the need for manually attaching and detaching power cables or connectors. Balance the batteries in your robot. Battery life, of course, depends on the configuration of acce...

Activ Media Robotics D OCKING /C HARGING S YSTEM The Pioneer 3/PeopleBot docking/charging accessory is both a manual and an automated mechanism. Onboard controls, triggered either by the DEPLOY CHARGER button near the manual CHARGE port, or by H8S controller-mediated client commands, deploy actuated...

Specifications and Controls mechanism. And the charging mechanism will not activate until you disengage the motors, either manually or programmatically. R ADIO C ONTROLS AND A CCESSORIES All Activ Media robots are servers in a client-server architecture. You supply the client computer to run your in...

Activ Media Robotics O NBOARD PC Unlike the original Pioneer 1, Pioneer 2 and 3 robots are designed to support an onboard, internally integrated PC for fully autonomous operation. Mounted just behind the nose of the robot, the PC is a common EBX form-factor that comes with up to four serial ports, 1...

Activ Media Robotics 802.11b-compatible wireless Ethernet card in one of its slots. The wireless Ethernet antenna sits atop the top deck. To complete the wireless installation, you will need to provide an Access Point module (comes as an accessory with most units). Attach the Access Point to one of ...

Specifications and Controls below safe operating level of ~11 VDC. 10 , 11 Genpowerd running on the onboard Linux system or ups.exe running under Windows, detects the change of state and initiates OS shutdown after a short wait, during which the shutdown may be canceled by raising the battery voltag...

Activ Media Robotics Quick Start Chapter 4 This chapter describes how to quickly set up and operate your new Activ Media robot with the ARIA demonstration software. For more details about programming and operating your Activ Media mobile robot with ARIA, Saphira, or other client software, see their ...

Quick Start Install Batteries Out of the box, your Activ Media robot comes with its batteries fully charged, although shipped separately, unless you have the automated docking/charging system. For most models, slide one or up to three batteries into robot’s battery box through the back door. Balance...

Activ Media Robotics needed), by starting and testing the robot, and by connecting the client PC with the AROS controller via a serial link. Now it is time to connect the ARIA demonstration program with your robot. If you are using radio modems or the new Low-Speed Ethernet-to-serial device to commu...

Quick Start A Successful Connection Table 2. ARIA demo operation modes MODE HOT K EY DESCRIPTION laser l Displays the closest and furthest readings from the robot’s laser range finder io i Displays the state of the robot’s digital and analog-to-digital I/O ports position p Displays the coordinates o...

Activ Media Robotics as a demonstration tool, but as a diagnostic one, as well, if you suspect a sensor or effector has failed or is working poorly. Access each ARIA demo mode by pressing its related hot-key;‘t’, for instance, to select teleoperation. Each mode includes onscreen instructions and may...

Activ Media Robotics Chapter 5 Joydrive and Self-Tests Although not all models come standard with a joystick port, your robot’s H8S-based controller has a joystick connector and AROS contains a joydrive server for manual operation. 13 And AROS comes with a short self-test routine for your robot’s dr...

Joydrive and Self Tests E NGAGING S ELF -T ESTS To enable self-test mode, press the white MOTORS button twice after startup or RESET . 14 ATTENTION! Place your robot on the floor or ground and have everyone step back before engaging self-tests. Currently, the only AROS self-test exercises your Activ...

Activ Media Robotics ActivMedia Robotics Operating System Chapter 6 All Activ Media robots use a client-server mobile robot-control architecture originally developed at SRI International, Inc. and Stanford University. In the model, the robot’s controller servers work to manage all the low- level det...

ActivMedia Robotics Operating System always first. Some data are strings of up to a maximum 200 bytes, prefaced by a length byte. Unlike common data integers, the two-byte checksum appears with its most-significant byte first (opposite order). Packet Checksum Calculate the PSOS/P2OS/AROS client-serv...

Activ Media Robotics S ERVER I NFORMATION P ACKETS Like its PSOS and P2OS predecessors, AROS automatically and repeatedly sends a packet of information over its HOST serial port to a connected client. The standard AROS SIP informs the client about a number of operating states and readings, using the...

ActivMedia Robotics Operating System C LIENT C OMMANDS AROS has a structured command format for receiving and responding to directions from a client for control and operation of your Activ Media robot or the simulator. Client commands are comprised of a one-byte command number optionally followed, i...

Activ Media Robotics Autoconfiguration (SYNC2) AROS automatically sends robot configuration information back to the client following the last synchronization packet ( SYNC2 ). The configuration values are three NULL- terminated strings that comprise the robot’s FLASH-stored name , class , and subcla...

ActivMedia Robotics Operating System With AROS versions 1.3 and later, many of the controller’s operating parameters return to their FLASH-based default values upon disconnection with the client. 18 For example, if the FLASH default for the maximum velocity is 1000 millimeters per second, and your c...

Activ Media Robotics ActivMedia Robots in Motion Activ Media robots use position, as opposed to velocity, motion controls to translate the platform a certain distance and turn it to a particular heading. To achieve constant translational ( VEL ), rotational ( ROTATE ), or independent-wheel ( VEL2 ) ...

ActivMedia Robotics Operating System At the same time, AROS reports back to the client in the standard SIP the robot’s position and speed. Not all robots convert these values into platform-independent units. ARIA and Saphira clients rely on conversion factors found in your robot’s respective “. p ” ...

Activ Media Robotics Consequently, we typically use a minimum value for Ki in the range of 0 to 10 for lightly to heavily loaded robots respectively. Position Integration Activ Media robots, including Pioneer 2s and 3s, track their position and orientation based on dead-reckoning from wheel motion d...

ActivMedia Robotics Operating System sonar array number one; numbers nine through 16 get added to the sequence for sonar array number two; 17-24 specify the sequence for array three; and 25-32 are for array four. You may include up to 16 sonar numbers in the sequence for any single array. Only those...

Activ Media Robotics Normally enabled (default was disabled in P2OS), change E_STALL by sending the AROS command #56. With argument of zero, E_STALL gets disabled. An argument value of one re-enables E_STALL . A CCESSORY C OMMANDS AND P ACKETS Several types of alternative server information packets ...

ActivMedia Robotics Operating System received a command from a client. Restarts on restoration of connection. P2M PACS byte 1 enables alternative SIP. S TALL V AL int Maximum PWM before stall. If > PwmMax, never. S TALL C OUNT int Ms time after a stall for recovery. Motors not engaged during this...

Activ Media Robotics For auto-baud, the HOST serial port automatically reverts to its FLASH default baud rate if, after being reset by the HOSTBAUD client command, it does not receive a subsequent and valid client-command packet within 500 milliseconds. HOST-to-AUX Serial Transfers Use the client-si...

ActivMedia Robotics Operating System Table 11. GRIPPERpac state byte BIT FUNCTION STATE 0 Grip limit Paddles fully open when 0; otherwise between or closed 1 Lift limit Lift fully up or down when 0; otherwise in between 2 Outer breakbeam Obstructed when 0; nothing in between when 1 3 Inner breakbeam...

Activ Media Robotics Onboard PC Communication between the onboard PC and the H8S microcontroller is RS232 serial through the respective COM1 (Windows) or /dev/ttyS0 (Linux) and internal HOST ports. Set the HostBaud FLASH communication rate to match the PC client-software’s serial port rate. Beginnin...

ActivMedia Robotics Operating System modifications to the robot's heading are done on the client side, as supported in the latest versions (1.3 and later) of ARIA. To enable the gyro, you must set the HasGyro FLASH parameter to 1 using the AROScf tool (see next chapter). Set it to 0 if the gyro isn'...

Activ Media Robotics For example, here’s the AROS client command to set digital output ports one and three ( OD1 and OD3 ), reset port four ( OD4 ), and leave all the rest alone (hexadecimal notation): 0xFA, 0xFB, 0x06, 0x1E, 0x1B, 0x19, 0x09, 0x37, 0x24 Bumper and IR I/O Two 10-position latching ID...

ActivMedia Robotics Operating System Expansion I/O Four alternative A/D ports appear at the 40-position Expansion I/O connector of the H8S microcontroller. 24 Use the ADSEL client command number 35 to select and subsequently have the A/D value from one of the alternative ports AN2-5 appear in the st...

Activ Media Robotics disengage the motors while charging, such as by disconnecting, you will have to re- engage them from the client or by manually pressing the MOTORS button on the controller. Re-engaging the motors automatically retracts the charging mechanism. While the motors are engaged, the ch...

ActivMedia Robotics Operating System The "overcharge" bit ID7 is set (1) when the batteries are well below full charge and the charger is at full charging current. During this bulk-charging period, the battery voltage rises to around 13.8-14V. The overcharge bit ID7 then drops to low (0) whi...

Activ Media Robotics Updating & Reconfiguring AROS Chapter 7 The AROS software and a set of operating parameters for your Activ Media robot get stored in the H8S microcontroller's FLASH ROM. With special upload and configuration software tools, you change and update the FLASH memory image. No ha...

Updating and Reconfiguring AROS Text prompts will help you get connected with your Activ Media robot’s H8S-based controller and update its AROS servers. No fuss. No muss. AROS CF The AROS update and configuration program, AROScf , is part of a collection of utilities and files for comprehensive mana...

Activ Media Robotics Similarly, this Linux xterm command uploads a fresh copy of AROS to your robot’s H8S- based microcontroller and then exits, much like the simple dl_AROS1_0 program: % ./AROScf –d AROS1_0.hex –n -b Table 15. AROScf startup options KEY ARGUMENT DESCRIPTION -b command arguments Bat...

Updating and Reconfiguring AROS See the respective control command and parameter Tables nearby for a full description of AROScf operation. Table 16. AROScf control commands COMMAND DESCRIPTION KEYWORD <value> Alone, a keyword displays current, edited value. Add argument to change current value...

Activ Media Robotics Table 17. AROS FLASH configuration parameters with values for Pioneer 3–DX KEYWORD Type Default Description CONSTANTS Should not be changed PTYPE str Pioneer Identifies the robot type. PSTYPE str P3DX Identifies the Activ Media robot model. S ERNUM str factory Serial number for ...

Updating and Reconfiguring AROS ROTKP int 30 Proportional PID for rotation ROTKV int 200 Differential PID for rotation ROTKI int 0 Integral PID for rotation TRANSACC int 300 Translational acceleration; mm/sec 2 TRANSDECEL int 300 Translational deceleration; mm/sec 2 TRANSKP int 15 Proportional PID f...

Activ Media Robotics Ticksmm and revcount affect only the conversion of your motion command arguments into platform-dependent values. Your client must independently convert values reported back from the server, such as X-Pos and Th , into platform-independent values. ARIA clients use the conversion ...

Activ Media Robotics Maintenance & Repair Chapter 8 Your Activ Media robot is built to last a lifetime and requires little maintenance. T IRE I NFLATION Maintain even tire inflation for proper navigation of your Pioneer 3 or 2 robot. We ship with each pneumatic tire inflated to 23 psi. If you ch...

Maintenance and Repair to the charger and insert it into the charge socket that is just below your robot’s Main Power switch. The LEDs on the charger indicate charge status, as marked on its case. It takes fewer than 12 hours—often just a few hours, depending on the level of discharge—to fully charg...

Activ Media Robotics Remove the small plastic plug which is near the hinge on the top plate and near the edge by the wheel. Under it, you will see the head of a large hex bolt. This bolt tightens (clockwise) or loosens (counter-clockwise) the drive belt for that side of the robot. Turn it using a 5m...

Maintenance and Repair Figure 22. Remove indicated screws from Pioneer 2- or 3-DX or -AT rear deck to open plate. Careful: The computer’s hard-drive, fan, and speaker have attached wire harnesses that you need to relieve before completely detaching the nose from the body. We recommend unplugging the...

Activ Media Robotics Appendix A H8S P ORTS & C ONNECTIONS Figure 23. Mini- and micro-fit style connector numbering This Appendix contains pinout and electrical specifications for the external and internal ports and connectors on the H8S microcontroller, motor-power interface, and User Control bo...

Appendix A: Ports and Connections Serial Ports Two DSUB-9 and two 5-pin microfit sockets provide the HOST and AUX1/AUX2 auxiliary serial ports for the H8S controller. All are RS-232 compatible. The HOST port is shared on both the User Control Panel as well as on the H8S controller board and is for A...

Activ Media Robotics Lift direction Inner breakbeam IR 9 ID4 DIGIN bit 4; Left paddle contact 10 OD4 DIGOUT bit 4; Automated docking/charging “inhibit” 11 ID5 DIGIN bit 5; Right paddle contact 12 OD5 DIGOUT bit 5; Automated docking/charging “deploy” 13 ID6 DIGIN bit 6; Automated docking/charging ”po...

Appendix A: Ports and Connections Table 24. Bumper ports (10-pos latching IDC) PIN SIGNAL DESCRIPTION PIN SIGNAL DESCRIPTION 1 BP0 Bumper bit 0 2 BP1 Bumper bit 1 3 BP2 Bumper bit 2 4 BP3 Bumper bit 3 5 BP4 Bumper bit 4 6 BP5 Bumper bit 5 7 BP6 Bumper bit 6 8 BP7 Bumper bit 7 9 Gnd Common 10 Gnd Com...

Activ Media Robotics Joystick Port An 8-position microfit socket provides signal lines for connection to an analog joystick. Indicated lines (*) are shared on other connectors. Table 27. Joystick connector (8-pos microfit) PIN SIGNAL DESCRIPTION PIN SIGNAL DESCRIPTION 1 Vcc 5 VDC 2 FB0 Fire button 0...

Appendix B: Motor-Power Board Connectors Appendix B Power Distribution Activ Media Robotics’ original H8S-based Pioneer 2 robots have two separate boards which interface with the H8S microcontroller and provide power for the motors as well as conditioned power and signal paths for the standard and a...

Activ Media Robotics Table 28. Motor Temperature Sensors Connector (4-pos microfit) PIN SIGNAL DESCRIPTION 1 Vcc 5 VDC 2 T2 To AN2-based temp sensor circuit 3 T1 To AN1-based temp sensor circuit 4 GND Signal/power common Otherwise, a jumper across R76 connects the AN1 port to the Fan Sensor system t...

Appendix B: Motor-Power Board Connectors Table 32. User Power connector (12-pos latchlock; unswitched) PIN CONNECTION PIN CONNECTION 1 Vcc 7 Vcc 2 Gnd 8 Gnd 3 Vpp 9 Vpp 4 Vcc 10 Vcc 5 Gnd 11 Gnd 6 Vpp 12 Vpp IR Signal and Power Originally available on the Motor-Power Interface Board and now integrat...

Activ Media Robotics Appendix C R ADIO M ODEM S ETTINGS The radio modem-based wireless serial accessory comes pre-configured for use with your Activ Media robot for client-server connections. One modem comes installed in the robot (robot’s HOST serial port pins 7 and 8 jumpered; powered 5 VDC from R...

Appendix D: Serial Ethernet Settings Appendix D S ERIAL E THERNET S ETTINGS The Ethernet-to-Serial device settings are made at the factory and stored in FLASH. Pressing and holding the test button for more than five seconds restores those settings. Server name: AMR-EW-1 Wireless SSID: WaveLAN Networ...

Activ Media Robotics 2. Attach a cross-over serial cable between your PC and the serial port on th e device 3. Start minicom (Linux), HyperTerminal (Windows) or comparable serial console on your PC 4. Serial settings are 115,200 baud, 8 bits, one stop, no parity and hardware handshaking. 5. Hold in ...

Appendix D: Serial Ethernet Settings Appendix E S PECIFICATIONS DXe DX8/P3DX AT/AT8 Perf PB PB V1 CE Physical Characteristics Length (cm) 44.5 44.5 50 47 47 44 Width (cm) 40 40 49 38 38 33 Height (cm) 24.5 24.5 24 124 104 22 Clearance (cm) 6.5 6.5 5.5 3.5 3.5 5.1 Weight (kg) 9 9 14 21 19 9 Payload (...

Activ Media Robotics Sensors DXE DX8/P3DX AT/AT8 Perf PB PB V1 CE Sonar Front Array (one each side, six forward @ 20° intervals) 8 8 8 8 8 8 Rear Sonar Array (one each side, six rear @ 20° intervals) 8 8 8 8 8 na Top Deck Sonar (one each side, six forward @ 20° intervals) na na na 8 8 na Encoders (2...

Warranty & Liabilities Your Activ Media robot is fully warranted against defective parts or assembly for one year after it is shipped to you from the factory. Accessories are warranted for 90 days. This warranty explicitly does not include damage from shipping or from abuse or inappropriate oper...