Pioneer 2 User Manual
Page 64
Appendix E: Specifications
58
Traversable step max
2cm
8.9cm
Traversable gap max
8.9cm
12.7cm
Traversable slope max
25% grade
40% grade
Traversable terrains
All wheelchair accessible
Unconsolidated surfaces; no carpet!
Sensors
Front Ultrasonic
8
Same
1 each side
Same
6 forward @ 20° intervals
Same
Rear Ultrasonic
8
Same
1 each side
Same
6 rearward @ 20° intervals
Same
Position encoders
76 ticks per mm
47 per mm
9,850 ticks per revolution
8,520 per rev.
Electronics (basic onboard microcontroller)
Processor
Siemens 8C166 (20 MHz)
Same
Position inputs
4
Same
Sonar inputs
2x8 (multiplexed)
Same
Digital I/O
16 logic ports
Same
A/D
5 @ 0-5 VDC
Same
Digital timer output
8 @ 1µsec resolution
Same
Digital timer inputs
8 @ 1µsec resolution;
Same
Comm port
2 RS-232 serial
Same
FLASH PROM
32 KB; P2OS-encoded software
Same
RAM
32 KB; user programmable
Same
Power switches
1 main; 2 auxiliary
Same
Controls and Ports
Main Power
Robot power On/Off
Same
Charge
System power/battery recharge
Same
LCD display
Systems status and messages
Same
RESET pushbutton
Warm reboot/download
Same
MOTORS pushbutton
Motors/joydrive/download/self-tests Same