Pioneer 2 - Manual (Page 15)

Pioneer Mobile Robots
9
Console and Deck
The Pioneer 2 Console and Deck are actually one piece

the top plate of the robot. The Deck is simply
the flat surface for mounting projects and accessories, such as the PTZ Robotic Camera or a laser range
finder. Feed-through slots behind the wheels let you conveniently route cables to the accessory panels on
each side of the DX/CE or through an access panel on top of the Pioneer 2 AT. A removable plug in the
middle of the Deck gives you convenient access to the interior of the robot.
In general, you should try to center the robot's load over the drive wheels. If you must add a heavy
accessory to the edge of a Pioneer 2-DX or 2-CE deck, counterbalance the weight with a heavy object
on the opposite end of the deck. A full complement of batteries helps balance the robot, too.
Figure 3-2. Pioneer 2’s Console and Deck
Every Pioneer 2 has a Console that consists of a liquid-crystal display (LCD), MOTORS, and RESET
control buttons and indicators, and an RS232-compatible serial port at the 9-pin DSUB connector on the
front and top of the Deck.
Attached directly underneath the Console is the Pioneer 2 microcontroller. (Operational details are
provided in the next chapter, Quick Start.)
Body
Pioneer 2’s sturdy, but lightweight aluminum Body houses the robot's batteries, drive motors, electronics,
and other standard components, including the forward and rear sonar arrays. The Body also has sufficient
room, with power and signal connectors, to support a variety of robotics accessories inside, including the
Fast-Track Color Vision System, radio modems and radio Ethernet, onboard computer, and many more.
On the DX and AT models, the Pioneer 2 has a hinged rear door for easy access to the batteries.
Accordingly, you may quickly hot-swap and replace any of up to three batteries.
Also at the rear of the DX and CE Body is a convenient carry handle for easy transport of the robot.