Document Outline

• Introduction
  • Robot Package
    • Basic Components (all shipments)
    • Optional Components and Attachments (partial list)
    • User-Supplied Components / System Requirements
  • Additional Resources
    • Software
    • Newsgroups
    • Support
• What Is Pioneer?
  • Client Software
    • ActivMedia Robotics Basic Suite
    • ARIA
    • Saphira
  • The Pioneer Legacy
    • Pioneer 1
    • Pioneer 2 and PeopleBot
  • Modes of Operation
• Specifications & Controls
  • Physical Characteristics
  • Main Components
    • Deck(s) and Console
    • Body, Nose, and Accessory Panels
    • Sonar Arrays with Gain Adjustment
    • Motors and Position Encoders
    • Batteries and Power
  • Electronics
    • Motor-Power Board
    • Microcontroller
    • Sonar Boards
  • Controls, Ports, and Indicators
    • Main Power, Fuse, and Indicator
    • Recharge/Power Port
    • Liquid-Crystal Display & Contrast Adjustment
    • RESET and MOTORS
    • SERIAL
    • RADIO
    • FLASH
  • PeopleBot Sensors and Emergency STOP
    • Pioneer 2 Arm-related SIPs and Commands
  • Safety Watchdogs and Configuration
• Quick Start
  • Preparative Assembly
    • Saphira Client Installation
  • Saphira Client Start-Up
  • Robot Cold Start-Up
    • RADIO ON
  • Starting Client-Server Communications
  • A Successful Connection
  • Operating the Saphira Demonstration Client
  • Disconnecting Serial Communications (intentionally or unintentionally)
  • Quickstart Troubleshooting
• Joydrive and Self-Tests
  • Joystick Connection
  • Joydrive Operation
  • Engaging Self-Tests
  • Motors Test
  • Sonar Test
  • Bumpers
  • Gripper
  • Compass
  • DIGIN and DIGOUT Test
  • ANALOG Tests
  • User PWMs
• Pioneer 2 Operating System
  • Communication Packet Protocol
    • Packet Data Types
    • Packet Checksum
    • Packet Errors
  • Server Information Packets
  • Client Commands
    • Client Command Argument Types
    • Saphira Client Command Support
  • Programming P2OS
    • Establishing a Client-Server Connection—SYNC
    • Autoconfiguration
    • Opening the Servers—OPEN
    • Keeping the Beat—PULSE
    • Closing the Connection—CLOSE
  • Movement Commands
    • Pioneer in Motion
    • PID Controls
    • Position Integration
  • Sonar
  • BUMP_STALL
  • E_STOP and E_STALL
  • Extended Packets
    • Packet Processing
    • CONFIGpac and CONFIG Command
    • SERAUXpac and GETAUX
    • ENCODERpac and ENCODER Command
    • GRIPPERpac and GRIPREQUEST
    • PLAYLISTpac and PLAYLIST Command
    • TCM2pac and TCM2 Command
  • Input / Output (I/O)
    • DIGIN, TIMER, and ADSEL
    • DIGOUT and PSUPOS
    • IOpac and IOREQUEST
    • Pioneer 2 Arm-related SIPs and Commands
  • Performance PeopleBot IRs
• Updating & Reconfiguring P2OS
  • Where to Get P2OS Software
  • Installing the P2OS Utilities
  • Updating P2OS
    • Step 1. Serial Connection from Computer to Robot
    • Step 2: Enable FLASH
    • Step 3: Put Microcontroller into Download Mode
    • Step 4: Run p2osdl
    • Download Troubleshooting
  • Configuring P2OS Operating Parameters
    • Steps 1–3: Preparing for Configuration
    • Step 4: Run p2oscf
    • Step 5: Changing Configuration Parameters
    • Step 6: Save Your Work
  • Editing P2OS Parameters
  • Saving and Restoring
  • Arm Parameters
  • PID Parameters
  • Encoder and Revcount
  • Calibration Tools - revcountcal and compasscal
• Maintenance & Repair
  • Drive Lubrication
  • Batteries
    • Changing Batteries
    • Hot-Swapping the Batteries
    • Charging the Battery
    • Alternative Battery Chargers
  • Getting Inside
    • Removing the Nose
    • Opening the Deck
  • Factory Repairs
• Appendix A
  • Internal Serial Connectors
  • User I/O Expansion Port
  • Performance PeopleBot I/O
  • The General I/O Bus
• Appendix B
  • User Power Connections
  • Onboard Computer Option
    • Power Switch (J7) and Delayed Shutdown Logic
    • Power-State Logic
    • Computer Power
• Appendix C
  • Joystick Connector
• Appendix D
  • Specifications
• Index
• Warranty & Liabilities