Pioneer 2TM - Manual (Page 59)

ActivMedia Robotics
Updating & Reconfiguring AROS
Chapter 7
The AROS software and a set of operating parameters for your ActivMedia robot get
stored in the H8S microcontroller's FLASH ROM. With special upload and configuration
software tools, you change and update the FLASH memory image. No hardware
modification is required.
W
HERE TO
G
ET
AROS S
OFTWARE
Your ActivMedia robot comes preinstalled with the latest version of AROS. And the
various AROS configuration and update tools come with the robot on CD-ROM.
Thereafter, stay tuned to the pioneer-users newsgroup or periodically visit our support
website to obtain the latest AROS software and related documentation:
http://robots.activmedia.com
AROS tools come in two flavors: One (dl_AROSV_v) simply updates the AROS servers in
FLASH. The other utility, AROScf, is a multi-functional application for both uploading new
AROS versions as well as modifying your robot’s onboard FLASH-based parameters.
AROS M AINTENANCE M ODE
To connect with and update your robot’s AROS servers and its FLASH-based operating
parameters, you need to first connect a serial port on the PC from which you will run the
AROS tool(s) to the HOST port of your robot’s microcontroller:
If you are running from an onboard PC, the computer-to-HOST connection already
is made.
If you have an onboard PC, but prefer to use an external computer for
maintenance, simply power down the onboard computer.
If you use radio or Ethernet wireless, switch RADIO power OFF.
When connecting from an external PC, directly tether (no radios) its serial port to
the 9-pin DSUB serial connector on the User Control Panel.
Now start up your robot and put its controller into the special Maintenance Mode:
1. Press and hold the white MOTORS button on the User Control Panel
2. Press and release the adjacent red RESET button
3. Release the MOTORS button.
The STATUS LED on the User Control Panel should flash twice the rate than when in server
(“wait”) mode and the BATTERY LED should shine bright red.
S
IMPLE
AROS U
PDATES
The simple AROS update application is just that: a standalone program that, when run,
updates the AROS servers to the indicated version V_v (1_0, for example) in your robot’s
microcontroller. Although it may add parameters to your current FLASH values, the
dl_AROSV_v application never changes your current parameters.
To use this convenient utility, simply download the “dl_”-prefixed executable for your PC’s
operating system (“.lin” filename suffix for Linux or “.exe” for Windows). Connect the
PC to your robot’s HOST serial port and put its controller into Maintenance Mode (see
section above). Then run the dl_… program.
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