Pioneer 2 / PeopleBot TM Operations Manual for P2OS-based ActivMedia Robots PIONEER 2-DXE PIONEER 2-AT PEOPLEBOT TM
Copyright © 2002, ActivMedia Robotics, LLC. All rights reserved. Under international copyright laws, this manual or any portion of it may not be copied or in any way duplicated without the expressed written consent of ActivMedia Robotics. The software on disk and on the microcontroller ROM, which accompany the robot, and are available for network download by ActivMedia Robotics customers, are solely owned and copyrighted or are licensed products distributed by ActivMedia Robotics.
ActivMedia Robotics Important Safety Instructions Read the installation and operations instructions before using the equipment. Avoid using power extension cords. To prevent fire or shock hazard, do not expose the equipment to rain or moisture. Refrain from opening the unit or any of its accessories. ! Keep wheels away from long hair or fur.
Table of Contents CHAPTER 1 INTRODUCTION................................................................................................................. 1 ROBOT PACKAGE ........................................................................................................................................ 1 Basic Components (all shipments).......................................................................................................... 1 Optional Components and Attachments (partial list) ...........
ActivMedia Robotics A SUCCESSFUL CONNECTION .....................................................................................................................21 OPERATING THE SAPHIRA DEMONSTRATION CLIENT .................................................................................22 DISCONNECTING SERIAL COMMUNICATIONS (INTENTIONALLY OR UNINTENTIONALLY) ....................................23 QUICKSTART TROUBLESHOOTING ....................................................................................
Step 2: Enable FLASH.......................................................................................................................... 47 Step 3: Put Microcontroller into Download Mode ............................................................................... 47 Step 4: Run p2osdl................................................................................................................................ 47 Download Troubleshooting .............................................................
ActivMedia Robotics Chapter 1 Introduction Congratulations on your purchase and welcome to the rapidly growing community of researchers, developers, and enthusiasts of ActivMedia Robotics’ intelligent mobile robots. This Pioneer 2 Operations Manual provides both the general and technical details you need to operate your Pioneer 2-DX, -CE, -DXe, -AT, or PeopleBot Mobile Robot and to begin developing your own Robotics hardware and software.
Congratulations ! ! Serial cables for external connections Many more… User-Supplied Components / System Requirements ! ! ! Client computer: 586-class or later PC with Microsoft Windows© 9x/ME, or RedHat© Linux operating system One RS-232-compatible serial port Four megabytes of available hard-disk storage Additional Resources New ActivMedia Robotics Pioneer 2 and PeopleBot customer get three additional and valuable resources: ! ! ! A private account on our Internet server for downloading software, upda
ActivMedia Robotics Support Have a problem? Can’t find the answer in this or any of the accompanying manuals? Or do you know a way that we might improve our robots? Share your thoughts and questions directly with us: support@activmedia.com Please include your robot's serial number (look for it beside the Main Power switch)we often need to understand your robot's configuration to best answer your question. Your message goes directly to the ActivMedia Robotics technical support team.
Chapter 2 What Is Pioneer? Pioneer is a family of mobile robots, both two-wheel and four-wheel drive, including the Pioneer 2-DX, -DXe, -CE, and -AT, and the PeopleBot (V1 and Performance) Mobile Robots. All are intelligent mobile robots, whose client-server architecture was originally developed by Kurt Konolige, Ph.D., of SRI International, Inc. and Stanford University. Figure 2.
ActivMedia Robotics managing attached accessories like the Gripper. To complete the client-server architecture, ActivMedia robots require a client connection: software running on a computer workstation connected with the robot’s controller via a serial link that provides the high-level, intelligent robot controls, including obstacle avoidance, path planning, features recognition, localization, and so on.
to use your robot, but it will not appear on your own menu since it copies functionalities of Navigator, which you may not distribute. ! MAPPER provides the tools you need to construct a map of your robot’s real operating space (“world”). Navigator and WorldPass use this map floor plan to plan a path from one point to another within a space.
ActivMedia Robotics much of the ActivMedia Robotics Basic Suite and many other ventures. The complete, licensed Saphira robotics development environment, including C/C++ libraries, GUI interface and Simulator, comes bundled with your ActivMedia robot. The Pioneer Legacy Commercially introduced in August of 1995, Pioneer 1 was the original Pioneer platform. It introduced a single-board 68HC11-based robot microcontroller and the Pioneer Server Operating System (PSOS) software.
Sporting a more holonomic body, larger wheels and stronger motors for better indoor performance, the Pioneer 2-DX and CE models, like Pioneer 1, were two-wheel, differential-drive mobile robots. The four-wheel drive Pioneer 2-AT has independent motor drivers, as well as a stall-detection system.
ActivMedia Robotics To the relief of those who have invested years in developing software for Pioneer 1, Pioneer 2 truly does combine the best of the new mobile robot technologies with the tried-and-true Pioneer architecture.
Specifications and Controls Chapter 3 Specifications & Controls ActivMedia’s robots may be smaller than most, but they pack an impressive array of intelligent mobile robot capabilities that rival bigger and much more expensive machines.
ActivMedia Robotics Deck(s) and Console The original Pioneer 2-DX, -CE, and -AT Decks are one piecethe top plate of the robot. The new DXe and AT models now have hinged top-plates which let you much more easily access the internal components of the robot. Figure 9. Pioneer 2-AT Console and hinged Deck The robot’s Deck is simply the flat surface for mounting projects and accessories, such as the PTZ Robotic Camera or a laser range finder. The PeopleBot’s have lower and upper Decks.
Specifications and Controls Body, Nose, and Accessory Panels Your ActivMedia robot’s sturdy, but lightweight aluminum Body houses the batteries, drive motors, electronics, and other common components, including the front and rear sonar arrays. The Body also has sufficient room, with power and signal connectors, to support a variety of robotics accessories inside, including an A/V wireless surveillance system, radio modems or radio Ethernet, onboard computer, and more.
ActivMedia Robotics All models come with an access port near the center of the Deck through which to run cables to the internal components. Sonar Arrays with Gain Adjustment Natively, ActivMedia robots support both front and rear sonar arrays, each with eight transducers that provide object detection and range information for features recognition, as well as navigation around obstacles. With sonar expansion electronics, you may add up to 16 more sonar in two additional arrays of eight sonar each.
Specifications and Controls Motors and Position Encoders Pioneer 2 and PeopleBot drive systems use high-speed, high-torque, reversible-DC motors, each equipped with a high-resolution optical quadrature shaft encoder for precise position and speed sensing and advanced dead-reckoning. Motor gearhead ratios and encoder ticks per revolution vary by robot model. See Appendix D for details.
ActivMedia Robotics Motor-Power Board Inside the robot, mounted to the battery box, is the Motor-Power board. It supplies both the 12 and five volts direct-current (VDC) power requirements of your robot’s systems. The standard Motor-Power board has a 12-pin User-Power connector that supports four sets of five- and 12-VDC power ports (total 1.5 ampere) for custom accessories. An optional computer-power section to the board supplies power for the onboard PC.
Specifications and Controls will automatically shut down the onboard PC. may permanently damage them. Discharging the batteries below 10 VDC You may continue to operate the robot while charging its batteries, although that will lengthen the recharge time. Because the onboard PC draws much current, even the high-speed 4A charger will not be able to fully recharge the batteries unless you power down the PC.
ActivMedia Robotics The MOTORS button and its associated green LED are under software control. Normally, your ActivMedia robot's motors are disabled when not connected with a client, such as Navigator or Saphira. When first connected with a client,9 the motors remain disabled (LED flashes) until you press and release the MOTORS button. Pressing and releasing the white MOTORS button then enables/disables the motors as long as the robot remains connected with a client.
Specifications and Controls PeopleBot Sensors and Emergency STOP Performance PeopleBot’s tabletop sensors are very reliable diffuse IR detectors mounted to the front of the robot and which detect obstacles, particularly tabletops or rope barriers, that otherwise aren’t detected by the sonars. The tabletop IR detectors respond to any surface except glass or other mirrored surfaces, and can detect objects as thin as a human finger. They are oriented to trigger when an object is 28 cm (11.
ActivMedia Robotics Chapter 4 Quick Start Your ActivMedia robot comes ready for action.11 This chapter describes how to operate the mobile robot with the Saphira demonstration software. For more details about programming and operating your ActivMedia mobile robot with Saphira, ARIA, or other client software, see their respective programming manuals.
Quick Start For instance, the Windows© 9x/ME version is a self-extracting WinZip© archive. Simply double-click its .EXE icon and follow the extraction program’s instructions. The distribution archive decompresses into a Saphira\verxx directory of files.12 Windows© 9x/ME users also need to set an environment variable in the C: (boot drive) autoexec.bat file.
ActivMedia Robotics The same P2OS initialization sequence occurs whenever you press the red RESET button. Unlike the original Pioneer 1, you cannot engage the drive motors until after you have connected with a client, except during self-tests. RADIO ON If you own radio modems for client-server serial communications, switch RADIO power ON.
Quick Start Connected P2OS v1.F 13.2* Operating the Saphira Demonstration Client When communications between the Saphira client and your robot’s servers are established, the robot becomes responsive and intelligent. For example, although it may drive toward an obstacle, your Pioneer 2-DXe will not crash (unless its obstacleavoidance behaviors have been disabled) because it can detect and actively avoid collisions.
ActivMedia Robotics When manually joysticking the robot, each keypress moves the robot forward or backward faster or slower and incrementally changes its direction. For instance, when turning, it is often useful to press the left- or right-turn key rapidly several times in a row, because the turn increment is small. Disconnecting Serial Communications (intentionally or unintentionally) When you finish playing with your robot, pull down the Saphira client’s Connect menu and choose the Disconnect option.
Quick Start RESET button, you must restart the connection. Turning the Main Power switch off and then back ON or pressing the RESET button puts the robot servers back to their wait state, ready to accept client connections again. If the Saphira client application is still active, simply pull down the Connect menu and choose the Disconnect option. Otherwise, restart the application and reconnect the Saphira client with the P2OS servers. The Saphira-P2OS connection is SERIAL only.
ActivMedia Robotics Chapter 5 Joydrive and Self-Tests Beginning with P2OS version 1.C, all Pioneer 2s and PeopleBots may be tethered and driven manually with a common PC (analog) joystick. In version 1.G and later, you may also use the tethered joystick to manually drive the robot even when it is connected with a client. And P2OS comes with a series of short test routines for your ActivMedia robot's drive motors, sonar, User I/O functions, and accessories.
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.
ActivMedia Robotics Use the drive test to ensure that the drive motors are working and that the encoder cables are in their correct sockets on the motor-power board. They’re the same size and have the same number of pins, so they can be mistakenly switched, right for left or left for right. In that erroneous case, the robot will spin madly in place. Sonar Test When the motors test completes, self-tests automatically continue to the sonar tests.
Joydrive and Self Tests DIGIN and DIGOUT Test A subsequent self-test lets you examine the values of the eight digital input (ID0–7) and output (OD0-7) ports associated with User I/O on your ActivMedia robot’s microcontroller. The state of each port is mapped into a series of eight digits displayed on the LCD. Each digit, 0 or 1, representing the ON or OFF state of a port, numbered right-to-left from 0 to 7.
ActivMedia Robotics Chapter 6 Pioneer 2 Operating System All ActivMedia robots use a client-server mobile robot-control architecture developed by Dr. Kurt Konolige and others at SRI International. In the model, the robot’s controller servers—the Pioneer 2 Operating System (P2OS)—work to manage all the low-level details of the mobile robot’s systems.
Pioneer 2 Operating System server to client. Both are bit streams consisting of four main elements: a two-byte header, a one-byte count of the number of subsequent packet bytes, the client command and its arguments or the server information data bytes, and, finally, a twobyte checksum. Packet Data Types Client commands and server information packets contain several data types, as defined in Table 3. Table 3.
ActivMedia Robotics provides very reliable links; radio modem-mediated communication is much less reliable. Accordingly, when designing client applications that may use radio modems, do not expect to receive every information packet intact, nor can you expect the server to accept every command. Table 4.
Pioneer 2 Operating System For some operations, however, the data do not decay as rapidly: Some commands are not overly time-sensitive—for example, those that perform such housekeeping functions as changing the sonar polling sequence. It would be useful to have a reliable packet protocol for these operations, and we are considering this for a future release of the server interface.
ActivMedia Robotics Table 6.
Pioneer 2 Operating System IOREQUEST 40 none PTUPOS 41 int TTY2 42 string GETAUX 43 int BUMP_STALL 44 int TCM2 45 int DOCK 46 int Request 1 or a continuous stream (>1) or tell to stop sending (0) IO SIPs msb is the port number (1-4) and lsb is the pulse width in 100µsec units PSOS, 10µsec units P2OS. Version 1.J uses RC-servo 40ms duty cycle.
ActivMedia Robotics for negative integers; see below). depending on the command. The argument is an integer, a string, or nothing, Saphira Client Command Support Saphira, as well as ARIA, all support P2OS client commands with useful library functions. You can find prototypes in $(SAPHIRA)/handler/include/saphira.h and saphira.pro. Saphira’s P2OS command names have the prefix sfCOM. Not all P2OS command names are supported in Saphira. See the Saphira Software Manual.
Pioneer 2 Operating System housekeeping functions, start its sonar and motor controllers (among other things), listen for client commands, and begin transmitting server information to the client. Note that once connected, Pioneer 2's and PeopleBot’s motors are disabled, regardless of their state when last connected. After starting a connection, you must either enable the motors manually (white MOTORS button) or send the P2OS motors ENABLE command with the argument 1; sfRobotComInt(4,1), for example.
ActivMedia Robotics and velocity of the robot. When in translation/ rotation (TR) motion control (recommended), separate translation and rotation servers work independently to achieve the specified forward/ reverse speed and heading of the robot. P2OS will try to make the robot achieve the desired translational velocity and rotate to the desired heading as soon as the commands are received.
Pioneer 2 Operating System Position Integration Pioneer keeps track of its position and orientation based on dead-reckoning from wheel motion, which is an internal coordinate position. 0 +X Front +90 +Y +270 +180 Figure 21. Internal coordinate system for P2OS Registration between external and internal coordinates deteriorates rapidly with movement, due to gearbox play, wheel imbalance and slippage, and many other realworld factors.
ActivMedia Robotics example. You may repeat a sonar number and have it ping more than once per sequence. For example: sfRobotComStrn(sfCOMPOLLING,"\001\002\001\002",4); /* ping front left only */ Note that if the string is empty, the sonar get turned off, even though you hadn't disabled the sonar with the SONAR command. BUMP_STALL Because the robots are programmed to climb, it can take up to a second or more to detect object collisions and subsequent motor stalls. With P2OS version 1.
Pioneer 2 Operating System For example, sfRobotComInt (35,4); /* select AN4 to b in the standard SIP */ … later… if (sfRobot.timer & 0xff = = 4 && sfRobot.analog > 200) /* E-Stop button pressed and engaged */ else /* E-stop not engaged. */ Extended Packets Several different, additional types of server information packets come with P2OS to better support the ActivMedia Robotics community.
ActivMedia Robotics Send the CONFIG command #18 with or without an argument to have P2OS send back a special server information packet containing the robot's operational parameters. The CONFIGpac SIP packet type is 32 (0x20). The next chapter gives details about the configuration packet data. /* Send commands and retrieve responses via the P2OS AUX serial port */ #define SERAUXpac 0xB0 int serbytes, inbufptr; char inbuf[200]; ...
Pioneer 2 Operating System number of bytes you request via the GETAUX command—up to 200 bytes at a time. P2OS waits to collect the requested number of incoming AUX-port serial bytes before sending the GETAUX packet to the client. Use the GETAUX command with a zero argument to flush the P2OS circular buffer and reset its pointers.
ActivMedia Robotics Table 10.
Pioneer 2 Operating System sfSMessage("Port# % reads %i",sfRobot.timer, sfRobot.analog); Port# 5 reads 33 sfRobotComInt(35,2); sfSMessage("Port# % reads %i",sfRobot.timer, sfRobot.analog); Port# 2 reads 224 DIGOUT and PSUPOS The eight digital output ports on the P2OS controller’s User I/O connector are both reported in the standard SIP (digout) and controllable with the P2OS commands DIGOUT and PTUPOS. Electrically, the ports are digital high (1) at ~5 VDC (Vcc) and low (0) at ~0 VDC (GND).
ActivMedia Robotics a byte value for the selected analog port, analog values in the IOpac are integers, with resolution to 12 bits. If either bumper is not installed, its reported value can vary. Table 11.
Updating and Reconfiguring P2OS Chapter 7 Updating & Reconfiguring P2OS The P2OS server software and a set of operating parameters get stored in your robot’s microcontroller's FLASH ROM. With special download and configuration utilities, you may change and update the FLASH memory image without physically replacing any hardware. Where to Get P2OS Software Your ActivMedia robot comes preinstalled with the latest version of P2OS.
ActivMedia Robotics Step 2: Enable FLASH Locate the FLASH switch on the Console. It's recessed. Use a flat-bladed screwdriver or other thin instrument to move the slide switch forward toward the front of your robot to enable FLASH writes. Step 3: Put Microcontroller into Download Mode Start up or reset your ActivMedia robot. download mode: After it has finished initializing, place it in 1. Press and hold the white MOTORS button. 2. Press and release the red RESET button. 3.
Updating and Reconfiguring P2OS Configuring P2OS Operating Parameters The program p2oscf(.exe) is the way you view and change your Pioneer 2’s identity and operating parameters. Limited reconfigurations. FLASH ROM in the controller is guaranteed for only 100 erase cycles. Steps 1–3: Preparing for Configuration Prepare for changing your robot’s configuration parameters identically to Steps 1, 2 and 3 for updating P2OS described above. Step 4: Run p2oscf As with p2osdl, you will find p2oscf(.
ActivMedia Robotics Step 6: Save Your Work Use the save command to save your configuration changes to FLASH or to a disk file. We strongly recommend that you save each of your robots’ parameter values to disk for later retrieval should your microcontroller get damaged or it’s FLASH inadvertently erased. Default parameter files come with each P2OS distribution, but it is tedious to reconstruct an individual robot’s unique configuration.
Updating and Reconfiguring P2OS Saving and Restoring The p2oscf program lets you save and restore whole configuration sets from disk-stored files. This lets you easily configure your robot for various different environments, as well as maintain a record of your original and test parameters. To save your current configuration to a disk file, get connected through p2oscf as described earlier. This loads the current operating parameters into the configuration editor.
ActivMedia Robotics Table 15.
Updating and Reconfiguring P2OS PID Parameters The P2OS configuration parameters include settings for the PID motors controls for translation and rotation of the robot. The translation PID values also apply to independent wheel velocities. The default values shown in the Table are for a moderately loaded robot. Experiment with different values to improve the performance of your robot in its current environment. Note that with P2OS version 1.
ActivMedia Robotics Parameter DX DXe AT CE PB V1 Performance PB Encoder ticks per rev 500 500 500 100 500 500 Gear ratio 19.7 19.7 85.5 19.7 38.3 38.3 Wheel diam (mm) 165 191 220 165 165 191 Encoder ticks per mm wheel rotation 76 66 49 76 148 128 DistConvFactor 0.840 0.969 1.32 0.826 0.413 0.424 DiffConvFactor 0.0056 0.0057 0.0034 0.0056 0.0056 0.0060 Calibration Tools - revcountcal and compasscal P2OS 1.
Updating and Reconfiguring P2OS after each startup. You may choose not to change the FLASH ROM values. Rather, you record the new configuration values and set/reset them using the p2oscf tool described earlier in this chapter. Install either compasscal(.exe) or revcountcal(.exe) into the bin directory of your Saphira distribution. Connect your robot's HOST serial port to the computer, by tether if you plan to save the calibration parameter to FLASH ROM. Turn on the robot's Main Power.
ActivMedia Robotics Chapter 8 Maintenance & Repair Your ActivMedia robot is built to last a lifetime and requires little maintenance. Drive Lubrication The drive motors and gearbox are sealed and self-lubricating, so you need not fuss with grease or oil. An occasional drop or two of oil on the axle bushings between the wheels and the case won’t hurt. And keep the axles clear of carpet or other strings that may wrap around and bind up your robot’s drive.
Maintenance and Repair Alternative Battery Chargers The center post of the charger socket is the positive (+) side of the battery; the case is the negative (-) side. A diode protects against the wrong charger polarity. Nonetheless, if you choose to use an alternative battery charge, be sure to connect positive to positive and negative to negative from charger to robot. An alternative AC to DC converter/battery charger should sustain at least 0.75A at 13.75 to 14 VDC per battery, and not more than 2-2.
ActivMedia Robotics Opening the Deck The new Pioneer 2-AT and -DXe models have a center hinge in the Deck which let you easily open and access internal components without completely removing the top plate. With earlier Pioneer 2 models and with the PeopleBots, you need to remove the respective Deck and other covers to access the robot’s components. In all cases, you need to remove the selected screws completely, then carefully lift the Deck or section of the Deck up off the Body.
Maintenance and Repair Figure 25. Remove indicated screws to flip open the hinged Pioneer 2-AT rear Deck. Figure 26. Remove indicated screws to flip open the Pioneer 2-DXE rear Deck. Factory Repairs If, after reading this manual, you’re having hardware problems with your Pioneer or PeopleBot robot and you’re satisfied that it needs repair, contact us: support@activmedia.
ActivMedia Robotics Appendix A C166 Controller Ports & Connections This Appendix contains pinout and electrical specifications for the external and internal ports and connectors on the Pioneer 2/PeopleBot microcontroller board. These include an external (Host) serial port for P2OS-to-client connections; two internal serial ports for Host and auxiliary (AUX) communications, each with switched five and 12 VDC power; an expansion bus (General I/O); and a discrete connector for custom User I/O.
Appendix A: Microcontroller Ports and Connections Table 17. Common serial cable connections to Pioneer 2 Platform & Connector Sun Sparcstation DB-25 SGI Irix mini-DIN 8 PC COMn: DB-9 PC COMn: DB-25 Macintosh mini-DIN 8 Pin 3 (Tx) 3 5 2 3 3 Pin 5 (Rx) 2 3 3 2 5 Pin 9 (Gnd) 7 4 5 7 4 P2OS operates at the following configuration: 9,600, 19,200 or 38,400 bits per second data rate; eight data bits; one stop bit; no parity or hardware handshaking (DTR).
ActivMedia Robotics ! ! ! ! 4 Pulse-width-modulation ports (PWM1-4) 1 signal ground (Gnd) 1 Vcc (+5 VDC) 1 Vpp (+12 VDC) Note that the general-purpose I/O and analog-to-digital ports are shared with the General I/O connector (below) and joystick circuitry and may not be available for use on all robots. For example, the analog lines P5_4-7, are used by the Joystick port, which now comes standard with the Pioneer 2-AT and Performance PeopleBot.
Appendix A: Microcontroller Ports and Connections Table 21.
ActivMedia Robotics Appendix B Motor-Power Board The Pioneer 2 and PeopleBot robots have a separate Motor-Power board which, in conjunction with the microcontroller, provides power for motors as well as conditioned power for the standard and accessory onboard electronics. It also contains buffered Figure 29. Pioneer 2 Motor-Power Board pass-through connectors for the motor encoders. An optional power package ("computer ready") is available for the onboard computer system.
Appendix B: Motor-Power Board Connectors which output controls the computer's DC:DC voltage converter. Designed to provide for crash-less shutdown of the computer in the event of a power brownout or for unattended shutdowns, if Vpp drops below 10 VDC, the comparator automatically initiates a two-minute delay before computer power (not system-wide) shutdown.
ActivMedia Robotics Appendix C Joystick Connector Use a 20-wire IDC-terminated ribbon cable to attach the 15-pin joystick connector to the User I/O port on the P2OS microcontroller. Both require P2OS version 1.c or later. Figure 30. Standard joyport for manual drive of a Pioneer 2 or PeopleBot Mobile Robot Figure 31. Joyport with signal switch for sharing User I/O ports with other accessories, such as the older style Gripper.
Appendix D: Specifications Appendix D Specifications DXe DX AT Perf PB PB V1 CE Physical Characteristics Length (cm) 44.5 44 50 47 47 44 Width (cm) 40 33 49 38 38 33 Height (cm) 24.5 22 24 124 104 22 Clearance (cm) 5.1 6.5 5.1 5.5 3.5 3.5 Weight (kg) 9 9 14 21 19 9 Payload (kg) 23 20 40 11 13 20 3 3 3 3 3 1 Charge (watthrs) 252 252 252 252 252 84 Run time (hrs) 8–10 8–10 4-6 na na 8-10 3-4 3-4 2-3 3-4 3-4 na 6 6 6 6 6 6 2.4 2.
ActivMedia Robotics Sensors DXe DX AT Perf PB PB V1 CE Sonar Front Array (one each side, six forward @ 20° intervals) 8 8 8 8 8 8 Rear Sonar Array (one each side, six rear @ 20° intervals) 8 8 8 8 8 na Top Deck Sonar (one each side, six rear @ 20° intervals) na na na 8 8 na Encoders (2 ea) counts/rev 39,400 39,400 34,000 76,600 76,600 39,400 counts/mm counts/rotation 66 76 49 128 148 76 18,400 20,000 22,500 33,500 39,000 18,400 Controls and Ports Main Power !
Index A/D, 43 Accessory Panels, 12 ActivMedia Robotics Basic Suite, 5 ADSEL, 43 AmigoBot, 43 Sounds, 43 AmigoSounds, 6 ARIA, 6 Assembly, 19 Autoconfiguration, 35 AUX, 41 Batteries, 14, 55 Changing, 55 Charging, 55 Hot-swap, 55 Recharge port, 15 Battery charger, 14 Body, 12 Breakbeam IR, 18, 45 BUMP_STALL, 39 Bumpers, 27 Calibration tools compasscal, 53 revcountcal, 53 Charge Cube, 14 Charger, 14 Chargers Alternative, 56 Checksum, 30 Client commands Argument types, 34 Communication rate, 32 CONFIG, 41 Genera
PID parameters, 52 Programming, 35 Restoring parameters, 50 revcount parameter, 52 Saving parameters, 50 Troubleshooting, 47 Updating, 46 P2OS commands, 34 p2oscf, 48 Commands, 49 Restore, 50 Save, 50 p2osdl, 47 Packets Checksum, 30 CONFIGpac, 41 Configuration, 41 Data types, 30 ENCODERpac, 42 Errors, 30 Extended, 40 GRIPPERpac, 42 IOpac, 44 PLAYLISTpac, 42 Processing, 40 Protocols, 30 SERAUXpac, 41 TCM2pac, 43 Payloads, 10 PeopleBot, 8 I/O, 61 PeopleBot sensors, 18, 45 Physical characteristics, 10 PID para
Warranty & Liabilities Your ActivMedia robot is fully warrantied against defective parts or assembly for one year after it is shippedto you from the factory. Accessories are warrantied for 90 days. This warranty explicitly does not include damage from shipping or from abuse or inappropriate operation, such as if the robot is allowed to tumble or fall off a ledge, or if it is overloaded with heavy objects.
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