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Pioneer 2 User Manual

Page 64

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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