Pioneer 2 / PeopleBot - Manual (Page 5)

ActivMedia Robotics
A S UCCESSFUL C ONNECTION .....................................................................................................................21
O PERATING THE S APHIRA D EMONSTRATION C LIENT .................................................................................22
D ISCONNECTING S ERIAL C OMMUNICATIONS ( INTENTIONALLY OR UNINTENTIONALLY ) ....................................23
Q UICKSTART T ROUBLESHOOTING ..............................................................................................................23
CHAPTER 5 JOYDRIVE AND SELF-TESTS ........................................................................................25
J OYSTICK C ONNECTION .............................................................................................................................25
J OYDRIVE O PERATION ...............................................................................................................................25
E NGAGING S ELF -T ESTS ..............................................................................................................................26
M OTORS T EST ............................................................................................................................................26
S ONAR T EST ...............................................................................................................................................27
B UMPERS ...................................................................................................................................................27
G RIPPER .....................................................................................................................................................27
C OMPASS ...................................................................................................................................................27
DIGIN AND DIGOUT T EST .......................................................................................................................28
ANALOG T ESTS .......................................................................................................................................28
U SER PWM S ..............................................................................................................................................28
CHAPTER 6 PIONEER 2 OPERATING SYSTEM................................................................................29
C OMMUNICATION P ACKET P ROTOCOL .......................................................................................................29
Packet Data Types.................................................................................................................................30
Packet Checksum...................................................................................................................................30
Packet Errors ........................................................................................................................................30
S ERVER I NFORMATION P ACKETS ...............................................................................................................32
C LIENT C OMMANDS ...................................................................................................................................32
Client Command Argument Types.........................................................................................................34
Saphira Client Command Support.........................................................................................................35
P ROGRAMMING P2OS ................................................................................................................................35
Establishing a Client-Server Connection—SYNC .................................................................................35
Autoconfiguration..................................................................................................................................35
Opening the Servers—OPEN ................................................................................................................35
Keeping the Beat—PULSE ....................................................................................................................36
Closing the Connection—CLOSE..........................................................................................................36
M OVEMENT C OMMANDS ............................................................................................................................36
Pioneer in Motion..................................................................................................................................37
PID Controls .........................................................................................................................................37
Position Integration...............................................................................................................................38
S ONAR .......................................................................................................................................................38
BUMP_STALL .........................................................................................................................................39
E_STOP AND E_STALL ...........................................................................................................................39
E XTENDED P ACKETS ..................................................................................................................................40
Packet Processing .................................................................................................................................40
CONFIGpac and CONFIG Command ..................................................................................................40
SERAUXpac and GETAUX ...................................................................................................................41
ENCODERpac and ENCODER Command ...........................................................................................42
GRIPPERpac and GRIPREQUEST.......................................................................................................42
PLAYLISTpac and PLAYLIST Command..............................................................................................42
TCM2pac and TCM2 Command ...........................................................................................................43
I NPUT / O UTPUT (I/O) ................................................................................................................................43
DIGIN, TIMER, and ADSEL .................................................................................................................43
DIGOUT and PSUPOS .........................................................................................................................44
IOpac and IOREQUEST .......................................................................................................................44
Pioneer 2 Arm-related SIPs and Commands.........................................................................................45
P ERFORMANCE P EOPLE B OT IR S ................................................................................................................45
CHAPTER 7 UPDATING & RECONFIGURING P2OS........................................................................46
W HERE TO G ET P2OS S OFTWARE .............................................................................................................46
I NSTALLING THE P2OS U TILITIES ..............................................................................................................46
U PDATING P2OS........................................................................................................................................46
Step 1. Serial Connection from Computer to Robot ..............................................................................46
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