Pioneer 2 / PeopleBot - Manual (Page 32)

Joydrive and Self Tests
handle find its default centered position before starting to drive. Try exiting (reset) and
restarting joydrive mode if the joystick doesn’t seem to function well.
The joystick’s “fire” button (button 1) acts as the joydrive “deadman”—press it to start
driving; release it to stop the robot’s motors. The robot should drive forward and reverse,
and turn left or right in response and at speeds relative to the joystick’s position.
When not connected with a client control program, releasing the joystick fire button
stops the robots. However, when connected with a client, the client program resumes
automatic operation of your robot’s drive system. So, for example, your robot may speed
up or slow down and turn, depending on the actions of your client program.
You may adjust the maximum translational and rotational speeds, even disable joydrive
mode, through special P2OS configuration parameters. See Chapter 7, Updating &
Reconfiguring P2OS, for details.
Engaging Self-Tests
To enable self-test mode, press the white MOTORS button twice after startup or RESET. 15
ATTENTION!
Place your robot on the floor or ground and have everyone step
back before engaging self-tests.
A message should appear in the LCD:
Press again to
begin tests 13.2*
And there should be that rhythmic beeping sound coming from the Console speaker to
alert you that you may have engaged joydrive and self-test modes inadvertently. If so,
press the red RESET button. If you really intended to run the self-tests, move on...
Note that you may interrupt the current self-test and move on to the next one by pressing
the white MOTORS button. Or you may discontinue all testing at any time and return to
the P2OS servers’ wait state by cycling power or, better, by pressing the red RESET button
on your robot’s Console.
Motors Test
The first self-test exercises your ActivMedia robot’s drive motors. During this test, the robot
is not at all conscious of bystanders. Please have everyone step back and remove any
obstacles from within a diameter of four to five feet around. When ready, press the white
MOTORS
button.
The motors self-test begins by engaging the left drive wheel, first forward, then in reverse,
each to complete a partial turn clockwise, then counterclockwise. Similarly, the right
wheel engages, first forward, then reverse to complete partial turns, first
counterclockwise, then clockwise.
The Console LCD, although difficult to read while the robot is in motion, displays a
message for each test. For example:
Left forward
13.2*
15 As described above, the first MOTORS press and release puts the robot into joydrive mode.
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