Pioneer 2TM - Manual (Page 5)

ActivMedia Robotics
S TARTING U P C LIENT AND S ERVER ...........................................................................................................24
Drive Self-Test.......................................................................................................................................24
Client Server Connection ......................................................................................................................24
Demo Startup Options ...........................................................................................................................25
A Successful Connection .......................................................................................................................26
O PERATING THE ARIA D EMONSTRATION C LIENT .....................................................................................26
D ISCONNECTING ........................................................................................................................................27
Q UICKSTART T ROUBLESHOOTING ..............................................................................................................27
Proper Connections...............................................................................................................................27
SRIsim ...................................................................................................................................................28
CHAPTER 5 JOYDRIVE AND SELF-TESTS ........................................................................................29
J OYDRIVE M ODE ........................................................................................................................................29
E NGAGING S ELF -T ESTS ..............................................................................................................................30
CHAPTER 6 ACTIVMEDIA ROBOTICS OPERATING SYSTEM.....................................................31
C LIENT -S ERVER C OMMUNICATION P ACKET P ROTOCOLS ...........................................................................31
Packet Checksum...................................................................................................................................32
Packet Errors ........................................................................................................................................32
S ERVER I NFORMATION P ACKETS ...............................................................................................................33
C LIENT C OMMANDS ...................................................................................................................................34
T HE C LIENT -S ERVER C ONNECTION ............................................................................................................36
Autoconfiguration (SYNC2)...................................................................................................................37
Opening the Servers—OPEN ................................................................................................................37
Keeping the Beat—PULSE....................................................................................................................37
Closing the Connection—CLOSE..........................................................................................................37
M OTION C OMMANDS .................................................................................................................................38
ActivMedia Robots in Motion................................................................................................................39
Platform Dependent and Independent Variables ..................................................................................39
PID Controls .........................................................................................................................................40
Position Integration...............................................................................................................................41
S ONAR .......................................................................................................................................................41
Enable/Disabling Sonar ........................................................................................................................41
Polling Sequence and Rate....................................................................................................................41
STALLS AND EMERGENCIES ........................................................................................................................42
A CCESSORY C OMMANDS AND P ACKETS ....................................................................................................43
Packet Processing .................................................................................................................................43
CONFIGpac and CONFIG Command ..................................................................................................44
S ERIAL PORT COMMUNICATIONS ................................................................................................................44
Changing Baud Rates and Autobauding ...............................................................................................44
HOST-to-AUX Serial Transfers.............................................................................................................45
E NCODER PACKETS ....................................................................................................................................45
Gripper packets .....................................................................................................................................45
Sounds ...................................................................................................................................................46
TCM2.....................................................................................................................................................46
Onboard PC ..........................................................................................................................................47
Heading Correction Gyro......................................................................................................................47
I NPUT O UTPUT (I/O) ..................................................................................................................................48
User I/O.................................................................................................................................................48
Bumper and IR I/O ................................................................................................................................49
IO packets..............................................................................................................................................49
Expansion I/O........................................................................................................................................50
D OCKING /C HARGING S YSTEM I/O .............................................................................................................50
Digital Port Controls.............................................................................................................................50
Docking/Charging Servers ....................................................................................................................50
Monitoring the Recharge Cycle.............................................................................................................51
CHAPTER 7 UPDATING & RECONFIGURING AROS ......................................................................53
W HERE TO G ET AROS S OFTWARE ............................................................................................................53
AROS M AINTENANCE M ODE ....................................................................................................................53
S IMPLE AROS U PDATES ............................................................................................................................53
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