Hitachi h8s-based microcontroller, Plus motor-power board, Itachi – Pioneer 2TM User Manual

Page 11: Based, Icrocontroller, Otor, Ower, Oard

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ActivMedia Robotics

ActivMedia robots, including Pioneer 3, Performance PeopleBot, and PowerBot, use a

multifunctional Hitachi H8S-based microcontroller and new ActivMedia Robotics
Operating System (AROS) software.

2

The newest Pioneer 3 and 2 Plus platforms also sport

an advanced motor-power board for high-power motor drives and systems power.

Although differing in some power and interfacing features, processing power, support for
various sensors, and I/O, all ActivMedia Robotics’ server-operating system software—

PSOS, P2OS, AmigOS, and now AROS—are upwardly compatible and virtually

interchangeable. Accordingly, client software written to operate a six-year old Pioneer
AT will work with a brand new Pioneer 3. We’ve taken great care to have all client

commands for control of that original Pioneer 1 work identically in our latest robots.

Client-server communications protocols over a serial communication link remain
identical, too. See Chapter 6, ActivMedia Robotics Operating System, for details.

H

ITACHI

H8S-

BASED

M

ICROCONTROLLER

Your H8S-based ActivMedia robot also has a variety of expansion power and I/O ports for

attachment and close integration of a client PC, sensors, and a variety of accessories—
all accessible through a common application interface to the robot server software,

AROS. Features include:

18 MHz Hitachi H8S/2357 with 32K RAM and 128K FLASH

Optional 512K FLASH or SRAM expansion

3 RS-232 serial ports (4 connectors) configurable from 9.6 to 115.2 kbaud

4 Sonar arrays of 8 sonar each

2 8-bit bumpers/digital input connectors

1 P2 Gripper/User I/O connector with 8-bits digital I/O and 1 analog input

1 Expansion/bus connector containing

5 Analog input

2 Analog output

8-bit I/O bus with r/w and 4 chip-selects

2-axes, 2-button joystick port

User Control Panel

Controller HOST serial connector

Main power and bi-color LED battery level indicators

AUX and RADIO power switches with related LED indicators

RESET and MOTORS pushbutton controls

Piezo buzzer

Motor/Power Board (drive system) interface with PWM and motor-direction control
lines and 8-bits of digital input

With the onboard PC option, your ActivMedia robot becomes an autonomous agent.

With Ethernet-ready onboard autonomy, your robot even becomes an agent for multi-
intelligence work.

P

LUS

M

OTOR

-P

OWER

B

OARD

The new Pioneer 3 and previous Pioneer 2-Plus robots come with an advanced motor-

power board. It can be configured as a plug-and-play replacement for some older
Pioneer 2s, as well.

Besides expanded user-power connectors and connections for ease and versatility of

use, the new board supplies three to four times the motor power than the original Pioneer
2 board. Accordingly, the Pioneer 3 and 2-Plus platforms operate more robustly over

rougher terrain (fewer stalls!) and carry significantly more payload when compared with

their predecessors. And because of the power improvements, the Pioneer 3-AT and 2-

2

AmigoBot has an H8S-based controller, too, but uses the AmigoBot Operating System tailored for its

electronics.

5

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This manual is related to the following products:

3TM