Pioneer 2 / PeopleBot - Manual (Page 6)

Step 2: Enable FLASH.......................................................................................................................... 47
Step 3: Put Microcontroller into Download Mode ............................................................................... 47
Step 4: Run p2osdl ................................................................................................................................ 47
Download Troubleshooting .................................................................................................................. 47
C ONFIGURING P2OS O PERATING P ARAMETERS ........................................................................................ 48
Steps 1–3: Preparing for Configuration ............................................................................................... 48
Step 4: Run p2oscf ................................................................................................................................ 48
Step 5: Changing Configuration Parameters ....................................................................................... 48
Step 6: Save Your Work ........................................................................................................................ 49
E DITING P2OS P ARAMETERS .................................................................................................................... 49
S AVING AND R ESTORING ........................................................................................................................... 50
A RM P ARAMETERS .................................................................................................................................... 50
PID P ARAMETERS ..................................................................................................................................... 52
E NCODER AND R EVCOUNT ........................................................................................................................ 52
C ALIBRATION T OOLS - REVCOUNTCAL AND COMPASSCAL ........................................................................ 53
CHAPTER 8 MAINTENANCE & REPAIR............................................................................................ 55
D RIVE L UBRICATION ................................................................................................................................. 55
B ATTERIES ................................................................................................................................................ 55
Changing Batteries ............................................................................................................................... 55
Hot-Swapping the Batteries .................................................................................................................. 55
Charging the Battery ............................................................................................................................ 55
Alternative Battery Chargers................................................................................................................ 56
G ETTING I NSIDE ........................................................................................................................................ 56
Removing the Nose ............................................................................................................................... 56
Opening the Deck ................................................................................................................................. 57
F ACTORY R EPAIRS .................................................................................................................................... 57
F ACTORY R EPAIRS .................................................................................................................................... 58
APPENDIX A.............................................................................................................................................. 59
I NTERNAL S ERIAL C ONNECTORS ............................................................................................................... 60
U SER I/O E XPANSION P ORT ...................................................................................................................... 60
P ERFORMANCE P EOPLE B OT I/O ................................................................................................................ 61
T HE G ENERAL I/O B US ............................................................................................................................. 62
APPENDIX B.............................................................................................................................................. 63
U SER P OWER C ONNECTIONS ..................................................................................................................... 63
O NBOARD C OMPUTER O PTION .................................................................................................................. 63
Power Switch (J7) and Delayed Shutdown Logic................................................................................ 63
Power-State Logic ................................................................................................................................ 64
Computer Power................................................................................................................................... 64
APPENDIX C.............................................................................................................................................. 65
J OYSTICK C ONNECTOR .............................................................................................................................. 65
APPENDIX D.............................................................................................................................................. 66
S PECIFICATIONS ........................................................................................................................................ 66
INDEX ......................................................................................................................................................... 68
WARRANTY & LIABILITIES ................................................................................................................ 70
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