Pioneer 2 - Manual (Page 13)

Pioneer Mobile Robots
7
Most users run Pioneer in this server mode, because it gives them quick, easy access to the robotics
functionality while working in high-level software on a familiar host computer.
For experiments in microcontroller-level operation of robotics functions, you may reprogram the onboard
flash-ROM and RAM for direct and standalone operation of Pioneer 2. We supply the means to download,
but not the microcontroller's programming software, for you to work in standalone mode.
In fact, the download utilities we provide for you to reprogram the 88C166-based controller's flash-ROM
and RAM also are used to update and upgrade your P2OS. We typically provide the upgrades free for
download from our website, so be sure to sign up for the
pioneer-users newslist. That's where we notify
our customers of the upgrades, as well as where we provide access to Pioneer users worldwide.
Finally, we provide onboard software that lets you drive the robot from a tethered joystick. And we provide
some test programs that exercise Pioneer 2 microcontroller hardware and software. We examine these
modes in some detail in Chapter 5, Joystick Drive and Self-Test Modes.