Pioneer 2 - Manual (Page 64)

Appendix E: Specifications
58
Traversable step max 2cm 8.9cm
Traversable gap max 8.9cm 12.7cm
Traversable slope max 25% grade 40% grade
Traversable terrains All wheelchair accessible Unconsolidated surfaces; no carpet!
Sensors
Front Ultrasonic 8 Same
1 each side Same
6 forward @ 20° intervals Same
Rear Ultrasonic 8 Same
1 each side Same
6 rearward @ 20° intervals Same
Position encoders 76 ticks per mm 47 per mm
9,850 ticks per revolution 8,520 per rev.
Electronics (basic onboard microcontroller)
Processor Siemens 8C166 (20 MHz) Same
Position inputs 4 Same
Sonar inputs 2x8 (multiplexed) Same
Digital I/O 16 logic ports Same
A/D 5 @ 0-5 VDC Same
Digital timer output 8 @ 1µsec resolution Same
Digital timer inputs 8 @ 1µsec resolution; Same
Comm port 2 RS-232 serial Same
FLASH PROM 32 KB; P2OS-encoded software Same
RAM 32 KB; user programmable Same
Power switches 1 main; 2 auxiliary Same
Controls and Ports
Main Power Robot power On/Off Same
Charge System power/battery recharge Same
LCD display Systems status and messages Same
RESET pushbutton Warm reboot/download Same
MOTORS pushbutton Motors/joydrive/download/self-tests Same