Pioneer 2 / PeopleBot - Manual (Page 4)

Table of Contents
CHAPTER 1 INTRODUCTION................................................................................................................. 1
R OBOT P ACKAGE ........................................................................................................................................ 1
Basic Components (all shipments).......................................................................................................... 1
Optional Components and Attachments (partial list) ............................................................................. 1
User-Supplied Components / System Requirements ............................................................................... 2
A DDITIONAL R ESOURCES ............................................................................................................................ 2
Software.................................................................................................................................................. 2
Newsgroups ............................................................................................................................................ 2
Support ................................................................................................................................................... 3
CHAPTER 2 WHAT IS PIONEER? .......................................................................................................... 4
C LIENT S OFTWARE ...................................................................................................................................... 4
ActivMedia Robotics Basic Suite ...................................................................................... 5
ARIA ....................................................................................................................................................... 6
Saphira ................................................................................................................................................... 6
T HE P IONEER L EGACY ................................................................................................................................. 7
Pioneer 1 ................................................................................................................................................ 7
Pioneer 2 and PeopleBot ........................................................................................................................ 7
M ODES OF O PERATION ................................................................................................................................ 9
CHAPTER 3 SPECIFICATIONS & CONTROLS ................................................................................. 10
P HYSICAL C HARACTERISTICS .................................................................................................................... 10
M AIN C OMPONENTS .................................................................................................................................. 10
Deck(s) and Console............................................................................................................................. 11
Body, Nose, and Accessory Panels ....................................................................................................... 12
Sonar Arrays with Gain Adjustment ..................................................................................................... 13
Motors and Position Encoders ............................................................................................................. 14
Batteries and Power ............................................................................................................................. 14
E LECTRONICS ............................................................................................................................................ 14
Motor-Power Board ............................................................................................................................. 15
Microcontroller .................................................................................................................................... 15
Sonar Boards ........................................................................................................................................ 15
C ONTROLS , P ORTS , AND I NDICATORS ....................................................................................................... 15
Main Power, Fuse, and Indicator......................................................................................................... 15
Recharge/Power Port ........................................................................................................................... 15
Liquid-Crystal Display & Contrast Adjustment ................................................................................... 16
RESET and MOTORS ........................................................................................................................... 16
SERIAL ................................................................................................................................................. 17
RADIO .................................................................................................................................................. 17
FLASH .................................................................................................................................................. 17
P EOPLE B OT S ENSORS AND E MERGENCY STOP......................................................................................... 18
Pioneer 2 Arm-related SIPs and Commands ........................................... Error! Bookmark not defined.
S AFETY W ATCHDOGS AND C ONFIGURATION ............................................................................................. 18
CHAPTER 4 QUICK START................................................................................................................... 19
P REPARATIVE A SSEMBLY .......................................................................................................................... 19
Saphira Client Installation ................................................................................................................... 19
S APHIRA C LIENT S TART -U P ...................................................................................................................... 20
R OBOT C OLD S TART -U P ........................................................................................................................... 20
RADIO ON............................................................................................................................................ 21
S TARTING C LIENT -S ERVER C OMMUNICATIONS ......................................................................................... 21
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