Pioneer 2 / PeopleBot - Manual (Page 73)

ActivMedia Robotics
Sensors
DXe DX AT Perf PB PB V1 CE
Sonar Front Array
(one each side,
six forward @ 20°
intervals)
8 8 8 8 8 8
Rear Sonar Array
(one each side,
six rear @ 20°
intervals)
8 8 8 8 8 na
Top Deck Sonar
(one each side,
six rear @ 20°
intervals)
na na na 8 8 na
Encoders (2 ea)
counts/rev
39,400 39,400 34,000 76,600 76,600 39,400
counts/mm 66 76 49 128 148 76
counts/rotation 18,400 20,000 22,500 33,500 39,000 18,400
Controls and Ports
Main Power ! ! ! ! ! !
Charge Port ! ! ! ! ! !
Joydrive Optional Optional Standard Standard Optional Optional
Microcontroller and Console Controls & Ports
Processor Siemens 8C166 (20 MHz)
LCD 32 characters on 2 lines
Encoder inputs 4
Audio Piezo buzzer
PWM outputs 8 (4 user-available)
Sonar inputs 2x8 (multiplexed)
Digital I/O 16 logic ports; 8 in, 8 out
A/D 5 @ 0-5 VDC; 1024- or 256-bit resolution
Digital timers 8 @ 1µsec resolution;
FLASH PROM 32 KB; P2OS and robot-specific parameters
RAM 32 KB
Power switches 1 main; 1 RADIO
Comm ports 2 RS-232 serial internal; 1 RS-232 external
Power (internal
comm. ports)
12 VDC @ 1A switched; 5 VDC @ 3A switched
Logic
pushbuttons
RESET and MOTORS
Indicator LEDs Main power; RADIO power; Host SERIAL RxD and TxD
67