Pioneer 2 / PeopleBot User Manual

Page 75

PID parameters, 52
Programming, 35
Restoring parameters, 50
revcount parameter, 52
Saving parameters, 50
Troubleshooting, 47
Updating, 46

P2OS commands, 34
p2oscf, 48

Commands, 49
Restore, 50
Save, 50

p2osdl, 47
Packets

Checksum, 30
CONFIGpac, 41
Configuration, 41
Data types, 30
ENCODERpac, 42
Errors, 30
Extended, 40
GRIPPERpac, 42
IOpac, 44
PLAYLISTpac, 42
Processing, 40
Protocols, 30
SERAUXpac, 41
TCM2pac, 43

Payloads, 10
PeopleBot, 8

I/O, 61

PeopleBot sensors, 18, 45
Physical characteristics, 10
PID parameters, 52
Pioneer 1, 7
Pioneer 2, 8
Pioneer 2 Operating System,

Pioneer 2-AT, 8
Pioneer 2-CE, 7
Pioneer 2-DX, 7
Pioneer 2-DXE, 8
Pioneer AT, 7
Pioneer Server Operating

System, 7

PLAYLIST, 42
PLAYLISTpac, 42
POLLING, 38
Ports

Joystick, 65

Power, 63

Fuse, 15
Main, 15
User, 63

Power board, 15
PSOS, 7
PTUPOS, 44
PULSE, 36
PWM, 44

Quick Start, 19
Radio POWER, 17
RC-Servos, 44
Recharge, 15
Recharger, 14
Repairs, 55, 58

Authorization, 58

RESET, 16
Resources, 2
revcount, 52, 53
revcountcal, 53
Robot parameters, 49
ROM. See FLASH
Rotation, 36
RVEL, 36
Safety, iii
Safety Watchdog, 18
Saphira, 6

Connection, 21
Disconnecting, 23
Errors, 23
Installation, 19
Main display, 22
Operation, 22
Problems, 23
Servers, 29
Startup, 20

Saphira.h, 35
Self-Tests, 25

Analog, 28
Bumpers, 27
Compass, 27
Digital I/O, 28
Enabling, 26
Gripper, 27
Motors, 26
PWM, 28
Sonar, 27

SERAUXpac, 41
Serial

Auxiliary port, 60
Console Port, 59
Host port, 60
Internal ports, 60

SERIAL port, 17
Serial ports

AUX, 41

Server Information Packets,

Servers, 29

ADSEL, 43
Autoconfiguration, 35
BUMP_STALL, 39
CLOSE, 36
DCHEAD, 36
DHEAD, 36
DIGOUT, 44
E_STALL, 39
E_STOP, 39
ENCODER, 42

GRIPREQUEST, 42
IOREQUEST, 44
OPEN, 35
PLAYLIST, 42
POLLING, 38
Position integration, 38
PTUPOS, 44
PULSE, 36
SETO, 36
SETRA, 36
SETRV, 36
Shut down, 35
Start up, 35
SYNC, 35
TCM2, 43
VEL, 36
VEL2, 36

SETO, 36
SETRA, 36
SETRV, 36
Simulator, 6
Software, 4
Software download, 2
Software downloads, 5
Sonar, 38

Firing rate, 13
ON-OFF, 38

Sonar, 13
Sonar Gain, 13
Specifications, 10
Stalls, 18
stallval, 18
stallwait, 18
STATUS, 16
Support, 3
SYNC, 35
Tabletop sensors, 18
TCM2, 27, 43
Timer, 43
Trainer, 6
Translation, 36
Troubleshooting, 23
User I/O, 25, 43

Analog, 28
Digin, 28
Digout, 28
PWM, 28

User I/O Ports, 60

Analog, 61
Digital, 61

User power, 63
Vector

2X, 53
TCM2, 53

VEL, 36
VEL2, 36
Wait State, 21
watchdog, 18
WorldPass, 5