Pioneer 2 - Manual (Page 28)

Self Tests
22
Joystick Drive and Self-Test Modes
Beginning with P2OS version 1.c, the Pioneer 2 may be tethered and manually driven via a common PC
joystick. And, P2OS comes with a series of short test routines for the Pioneer 2's drive motors, sonar, User
I/O functions, and accessories. To run either, start up or reset the robot into its P2OS wait state (LCD "no
conn"). You may press the Reset button at any time to disable self-test and joystick-drive modes.
Joystick Drive
You may attach a common PC joystick to the User I/O port and manually drive the robot Newer Pioneer 2
ATs come with the joystick connector and internal wiring. An accessory kit is available to adapt older
Pioneer 2 ATs and for Pioneer 2 DX and CE models. See Appendix D for details.
Beware :
The Joystick and older P2 Gripper mutually interfere at the User I/O port.
Because they share ports on the User I/O connector of the microcontroller, older versions of the P2 Gripper
(hasgripper = 1; see Chapter 7, Updating & Reconfiguring P2OS, and the Pioneer 2 Gripper Manual,
version 2 or later) interfere with each other’s operation. One solution is to switch the control lines with a
4PDT toggle switch. See Appendix D for details. Alternatively, there also is an accessory kit available that
moves the P2 Gripper controls to the General I/O bus, liberating the User I/O ports for other uses, include
the joystick drive. Visit the Pioneer webpages (
http://www.activrobots.com ) and/or contact
[email protected] for details.
Joystick Operation
To drive the Pioneer 2 with a tethered joystick, attach a common PC joystick—one that you might connect
to the joyport on a standard sound/game interface card—to the 15-pin DSUB socket of the joystick port.
Then, after power ON, press the white MOTORS button once. Listen for a rhythmic, low-tone beep, beep,
beep, indicating joystick mode.
The joystick is self-calibrating: When you first enable joystick-drive mode, P2OS detects the joystick’s
initial position and saves its values as the centered/stopped position. Accordingly, let the joystick handle
find its default centered position before enabling joydrive mode. Also, exit and restart joystick-drive mode
after you manually adjust the joystick’s center position.
The joystick’s “fire” button (button 1) acts as the “deadman”—press it to start driving; release it to stop the
robots motors. The robot should drive forward and reverse, and turn left or right in response and at speeds
relative to the joystick’s position.
You may adjust the maximum translated and rotational speeds, even disable joystick-drive, through special
P2OS configuration parameters. See Chapter 7, Updating & Reconfiguring P2OS, for details.
Engaging Self-Tests
To enable self-test mode, press the white MOTORS button twice after startup or resetting the robot.
Place the Pioneer robot on the floor and have everyone step back
before engaging self-tests.
As described above, the first press and release puts the robot into joystick-drive mode. A message should
appear in the LCD:
Press again to
begin tests 13.2*