Document Outline

• Introduction
  • Robot Package
    • Basic Components (all shipments)
    • Optional Components and Attachments (partial list)
    • User-Supplied Components / System Requirements
  • Additional Resources
    • Support Website
    • Newsgroups
    • Support
• What Is Pioneer?
  • Pioneer Reference Platform
  • Pioneer Family of Microcontrollers and Operating System Software
  • Hitachi H8S-based Microcontroller
  • Plus Motor-Power Board
  • Client Software
    • ARIA
    • Saphira
    • Laser Navigation and Localization
  • Supporting Software
    • Simulator
    • Mapper
  • The Pioneer Legacy
    • Pioneer 1 and AT
    • Pioneer 2 and PeopleBot
    • New Pioneer 3 and Recent Pioneer 2-DX8, -AT8, and Plus Mobile Robots
  • Modes of Operation
    • Server Mode
    • Maintenance and Standalone Modes
    • Joydrive and Self Test Modes
• Specifications & Controls
  • Physical Characteristics
  • Main Components
    • Motor Stop Button
    • User Control Panel
    • Body, Nose, and Accessory Panels
    • Sonar Arrays with Gain Adjustment
    • Motors, Wheels, and Position Encoders
  • Batteries and Power
    • Battery Indicators and Low Voltage Conditions
    • Recharging
  • Docking/Charging System
    • Manual Operation (Robot Power OFF)
    • Manual Operation (Robot Power and Systems ON)
  • Radio Controls and Accessories
  • Onboard PC
    • Computer Control Panel
    • Operating the Onboard PC
    • PC Networking
    • UPS and Genpowerd
  • Safety AROS Watchdogs
• Quick Start
  • Preparative Assembly
    • Install ARIA
    • Install Batteries
    • Client-Server Communications
  • Starting Up Client and Server
    • Drive Self-Test
    • Client Server Connection
    • Demo Startup Options
    • A Successful Connection
  • Operating the ARIA Demonstration Client
  • Disconnecting
  • Quickstart Troubleshooting
    • Proper Connections
    • SRIsim
• Joydrive and Self-Tests
  • Joydrive Mode
  • Engaging Self-Tests
• ActivMedia Robotics Operating System
  • Client-Server Communication Packet Protocols
    • Packet Checksum
    • Packet Errors
  • Server Information Packets
  • Client Commands
  • The Client-Server Connection
    • Autoconfiguration (SYNC2)
    • Opening the Servers—OPEN
    • Keeping the Beat—PULSE
    • Closing the Connection—CLOSE
  • Motion Commands
    • ActivMedia Robots in Motion
    • Platform Dependent and Independent Variables
    • PID Controls
    • Position Integration
  • Sonar
    • Enable/Disabling Sonar
    • Polling Sequence and Rate
  • stalls and emergencies
  • Accessory Commands and Packets
    • Packet Processing
    • CONFIGpac and CONFIG Command
  • Serial port communications
    • Changing Baud Rates and Autobauding
    • HOST-to-AUX Serial Transfers
  • Encoder packets
    • Gripper packets
    • Sounds
    • TCM2
    • Onboard PC
    • Heading Correction Gyro
  • Input Output (I/O)
    • User I/O
    • Bumper and IR I/O
    • IO packets
    • Expansion I/O
  • Docking/Charging System I/O
    • Digital Port Controls
    • Docking/Charging Servers
    • Monitoring the Recharge Cycle
• Updating & Reconfiguring AROS
  • Where to Get AROS Software
  • AROS Maintenance Mode
  • Simple AROS Updates
  • AROScf
  • Starting AROScf
  • Configuring AROS Operating Parameters
    • Interactive Commands
    • Changing Parameters
  • Save Your Work
  • PID Parameters
  • Ticksmm and Revcount
  • StallVal and StallCount
  • Bumpers
• Maintenance & Repair
  • Tire Inflation
  • Drive Lubrication
  • Batteries
    • Changing Batteries
    • Hot-Swapping the Batteries
    • Charging the Batteries
    • Automated Docking/Charging System
    • Alternative Battery Chargers
  • Tightening the AT Drive Belt
  • Getting Inside
    • Removing the Nose
    • Opening the Deck
  • Factory Repairs
• Appendix A
  • H8S Ports & Connections
  • H8S Microcontroller
    • Power Connector
    • Serial Ports
    • User I/O, Gripper, Docking/Charging Port
    • The Expansion I/O Bus
    • Bumper Ports
    • Motors, Encoders, and IR Sensors
    • User Control Interface
    • Joystick Port
• Appendix B
  • Pioneer 3 and 2-Plus Motor-Power Board
    • Configuration for Current and Temperature Sensing
    • Controller Power and Interface
    • Radio, Auxiliary, and User Power Connectors
    • IR Signal and Power
  • Legacy Motor-Power
• Appendix C
  • Radio Modem Settings
• Appendix D
  • Serial Ethernet Settings
  • LAN IP Settings
    • Console mode:
    • Webpage
    • Peer-to-Peer Networking
• Appendix E
  • Specifications
• Warranty & Liabilities