Pioneer 2 - Manual (Page 4)

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JOYSTICK DRIVE AND SELF-TEST MODES .................................................................................22
J OYSTICK D RIVE ..................................................................................................................................22
J OYSTICK O PERATION ..........................................................................................................................22
E NGAGING S ELF -T ESTS ........................................................................................................................22
M OTORS T EST ......................................................................................................................................23
S ONAR T EST ........................................................................................................................................23
DIGIN T EST ........................................................................................................................................23
DIGOUT T EST ....................................................................................................................................24
ANALOG T ESTS .................................................................................................................................24
B UMPS .................................................................................................................................................24
U SER PWM S ........................................................................................................................................25
P2 G RIPPER ..........................................................................................................................................25
C OMPASS .............................................................................................................................................25
PIONEER 2 OPERATING SYSTEM ..................................................................................................26
C OMMUNICATION P ACKET P ROTOCOL ..................................................................................................26
Packet Data Types ...........................................................................................................................27
Packet Checksum.............................................................................................................................27
Packet Errors ..................................................................................................................................27
S ERVER I NFORMATION P ACKETS ..........................................................................................................28
C LIENT C OMMANDS .............................................................................................................................29
Client Command Argument Types ....................................................................................................30
Saphira Client Command Support....................................................................................................31
P ROGRAMMING P2OS ..........................................................................................................................31
Synchronization—SYNC ..................................................................................................................31
Autoconfiguration............................................................................................................................32
Opening the Servers—OPEN ............................................................................................................32
Keeping the Beat—PULSE...............................................................................................................32
Closing the Connection—CLOSE .....................................................................................................32
M OVEMENT C OMMANDS ......................................................................................................................32
P IONEER IN M OTION .............................................................................................................................33
Position Integration.........................................................................................................................33
S ONARS ...............................................................................................................................................34
I NPUT / O UTPUT (I/O)...........................................................................................................................34
Digin, Timer, and ADSEL ................................................................................................................34
DIGOUT and PSUPOS....................................................................................................................35
BUMPSTALL.....................................................................................................................................35
E
XTENDED P ACKETS ............................................................................................................................36
Packet Processing ...........................................................................................................................36
Configuration Packets .....................................................................................................................36
Encoder Packets ..............................................................................................................................36
AUX Serial Packets .........................................................................................................................36
S TANDALONE M ODE ............................................................................................................................38
UPDATING & RECONFIGURING P2OS...........................................................................................39
W HERE TO G ET P2OS S OFTWARE .........................................................................................................39
I NSTALLING THE P2OS U TILITIES .........................................................................................................39
U PDATING P2OS..................................................................................................................................39
Step 1. Serial Connection from Computer to Pioneer........................................................................39
Step 2: Enable FLASH.....................................................................................................................39
Step 3: Put Pioneer into Boot Mode .................................................................................................39
Step 4: Run p2osdl...........................................................................................................................40
Download Troubleshooting..............................................................................................................40
C ONFIGURING P2OS O PERATING P ARAMETERS .....................................................................................40
Steps 1–3: Preparing Pioneer 2 for Configuration............................................................................40
Step 4: Run p2oscf ...........................................................................................................................40
Step 5: Changing the Configuration Parameters ..............................................................................40
Editing P2OS Parameters ................................................................................................................41
Saving and Restoring.......................................................................................................................43