Pioneer 2 / PeopleBot User manual

Pioneer 2 / PeopleBot
Operations Manual
for P2OS-based ActivMedia Robots
TM
PIONEER 2-DXEPIONEER 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.
Developers and users are authorized by revocable license to develop and operate
custom software for personal research and educational use only. Duplication,
distribution, reverse-engineering, or commercial application of the ActivMedia Robotics
software and hardware without the expressed written consent of ActivMedia Robotics,
LLC, is explicitly forbidden.
The various names and logos for products used in this manual are often registered
trademarks or trademarks of their respective companies. Mention of any third-party
hardware or software constitutes neither an endorsement nor a recommendation.
ActivMedia Robotics Pioneer 2/PeopleBot Operations Manual v10, July 2002
ii

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.
Inappropriate Operation
Inappropriate operation voids your warranty! Inappropriate operation includes, but is
not limited to:
! Dropping the robot, running it off a ledge, or otherwise operating it in an
irresponsible manner
! Overloading the robot above its payload capacity
! Getting the robot wet
! Continuing to run the robot after hair, yarn, string, or any other items have
become wound around the robot’s axles or wheels
! All other forms of inappropriate operation or care
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Table of Contents
CHAPTER 1 INTRODUCTION................................................................................................................. 1
ROBOT PACKAGE ........................................................................................................................................ 1
Basic Components (all shipments).......................................................................................................... 1
Optional Components and Attachments (partial list)............................................................................. 1
User-Supplied Components / System Requirements ............................................................................... 2
ADDITIONAL RESOURCES............................................................................................................................ 2
Software.................................................................................................................................................. 2
Newsgroups ............................................................................................................................................ 2
Support ................................................................................................................................................... 3
CHAPTER 2 WHAT IS PIONEER? .......................................................................................................... 4
CLIENT SOFTWARE...................................................................................................................................... 4
ActivMedia Robotics Basic Suite ...................................................................................... 5
ARIA ....................................................................................................................................................... 6
Saphira ................................................................................................................................................... 6
THE PIONEER LEGACY................................................................................................................................. 7
Pioneer 1 ................................................................................................................................................ 7
Pioneer 2 and PeopleBot........................................................................................................................ 7
MODES OF OPERATION................................................................................................................................9
CHAPTER 3 SPECIFICATIONS & CONTROLS ................................................................................. 10
PHYSICAL CHARACTERISTICS.................................................................................................................... 10
MAIN COMPONENTS.................................................................................................................................. 10
Deck(s) and Console............................................................................................................................. 11
Body, Nose, and Accessory Panels....................................................................................................... 12
Sonar Arrays with Gain Adjustment..................................................................................................... 13
Motors and Position Encoders ............................................................................................................. 14
Batteries and Power ............................................................................................................................. 14
ELECTRONICS............................................................................................................................................ 14
Motor-Power Board ............................................................................................................................. 15
Microcontroller .................................................................................................................................... 15
Sonar Boards........................................................................................................................................ 15
CONTROLS, PORTS, AND INDICATORS ....................................................................................................... 15
Main Power, Fuse, and Indicator......................................................................................................... 15
Recharge/Power Port ........................................................................................................................... 15
Liquid-Crystal Display & Contrast Adjustment ................................................................................... 16
RESET and MOTORS........................................................................................................................... 16
SERIAL................................................................................................................................................. 17
RADIO.................................................................................................................................................. 17
FLASH.................................................................................................................................................. 17
PEOPLEBOT SENSORS AND EMERGENCY STOP......................................................................................... 18
Pioneer 2 Arm-related SIPs and Commands...........................................Error! Bookmark not defined.
SAFETY WATCHDOGS AND CONFIGURATION............................................................................................. 18
CHAPTER 4 QUICK START................................................................................................................... 19
PREPARATIVE ASSEMBLY.......................................................................................................................... 19
Saphira Client Installation ................................................................................................................... 19
SAPHIRA CLIENT START-UP...................................................................................................................... 20
ROBOT COLD START-UP........................................................................................................................... 20
RADIO ON............................................................................................................................................ 21
STARTING CLIENT-SERVER COMMUNICATIONS......................................................................................... 21
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ActivMedia Robotics
A SUCCESSFUL CONNECTION.....................................................................................................................21
OPERATING THE SAPHIRA DEMONSTRATION CLIENT.................................................................................22
DISCONNECTING SERIAL COMMUNICATIONS (INTENTIONALLY OR UNINTENTIONALLY)....................................23
QUICKSTART TROUBLESHOOTING..............................................................................................................23
CHAPTER 5 JOYDRIVE AND SELF-TESTS ........................................................................................25
JOYSTICK CONNECTION .............................................................................................................................25
JOYDRIVE OPERATION ...............................................................................................................................25
ENGAGING SELF-TESTS..............................................................................................................................26
MOTORS TEST............................................................................................................................................26
SONAR TEST...............................................................................................................................................27
BUMPERS ...................................................................................................................................................27
GRIPPER.....................................................................................................................................................27
COMPASS ...................................................................................................................................................27
DIGIN AND DIGOUT TEST.......................................................................................................................28
ANALOG TESTS .......................................................................................................................................28
USER PWMS..............................................................................................................................................28
CHAPTER 6 PIONEER 2 OPERATING SYSTEM................................................................................29
COMMUNICATION PACKET PROTOCOL.......................................................................................................29
Packet Data Types.................................................................................................................................30
Packet Checksum...................................................................................................................................30
Packet Errors ........................................................................................................................................30
SERVER INFORMATION PACKETS ...............................................................................................................32
CLIENT COMMANDS...................................................................................................................................32
Client Command Argument Types.........................................................................................................34
Saphira Client Command Support.........................................................................................................35
PROGRAMMING 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
MOVEMENT COMMANDS............................................................................................................................36
Pioneer in Motion..................................................................................................................................37
PID Controls.........................................................................................................................................37
Position Integration...............................................................................................................................38
SONAR .......................................................................................................................................................38
BUMP_STALL.........................................................................................................................................39
E_STOP AND E_STALL...........................................................................................................................39
EXTENDED PACKETS..................................................................................................................................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
INPUT / OUTPUT (I/O) ................................................................................................................................43
DIGIN, TIMER, and ADSEL.................................................................................................................43
DIGOUT and PSUPOS.........................................................................................................................44
IOpac and IOREQUEST .......................................................................................................................44
Pioneer 2 Arm-related SIPs and Commands.........................................................................................45
PERFORMANCE PEOPLEBOT IRS................................................................................................................45
CHAPTER 7 UPDATING & RECONFIGURING P2OS........................................................................46
WHERE TO GET P2OS SOFTWARE .............................................................................................................46
INSTALLING THE P2OS UTILITIES..............................................................................................................46
UPDATING P2OS........................................................................................................................................46
Step 1. Serial Connection from Computer to Robot..............................................................................46
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Step 2: Enable FLASH.......................................................................................................................... 47
Step 3: Put Microcontroller into Download Mode............................................................................... 47
Step 4: Run p2osdl................................................................................................................................ 47
Download Troubleshooting.................................................................................................................. 47
CONFIGURING P2OS OPERATING PARAMETERS........................................................................................ 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
EDITING P2OS PARAMETERS .................................................................................................................... 49
SAVING AND RESTORING........................................................................................................................... 50
ARM PARAMETERS.................................................................................................................................... 50
PID PARAMETERS ..................................................................................................................................... 52
ENCODER AND REVCOUNT ........................................................................................................................ 52
CALIBRATION TOOLS - REVCOUNTCAL AND COMPASSCAL........................................................................ 53
CHAPTER 8 MAINTENANCE & REPAIR............................................................................................ 55
DRIVE LUBRICATION................................................................................................................................. 55
BATTERIES ................................................................................................................................................ 55
Changing Batteries............................................................................................................................... 55
Hot-Swapping the Batteries.................................................................................................................. 55
Charging the Battery ............................................................................................................................ 55
Alternative Battery Chargers................................................................................................................ 56
GETTING INSIDE ........................................................................................................................................ 56
Removing the Nose ............................................................................................................................... 56
Opening the Deck ................................................................................................................................. 57
FACTORY REPAIRS .................................................................................................................................... 57
FACTORY REPAIRS .................................................................................................................................... 58
APPENDIX A.............................................................................................................................................. 59
INTERNAL SERIAL CONNECTORS ............................................................................................................... 60
USER I/O EXPANSION PORT ...................................................................................................................... 60
PERFORMANCE PEOPLEBOT I/O................................................................................................................ 61
THE GENERAL I/O BUS ............................................................................................................................. 62
APPENDIX B.............................................................................................................................................. 63
USER POWER CONNECTIONS ..................................................................................................................... 63
ONBOARD COMPUTER OPTION.................................................................................................................. 63
Power Switch (J7) and Delayed Shutdown Logic................................................................................ 63
Power-State Logic ................................................................................................................................ 64
Computer Power................................................................................................................................... 64
APPENDIX C.............................................................................................................................................. 65
JOYSTICK CONNECTOR.............................................................................................................................. 65
APPENDIX D.............................................................................................................................................. 66
SPECIFICATIONS ........................................................................................................................................ 66
INDEX ......................................................................................................................................................... 68
WARRANTY & LIABILITIES ................................................................................................................ 70
vi

ActivMedia Robotics
Introduction
Figure 1. The Pioneer 2-DX
and -AT Mobile Robots first
appeared commercially in
1995.
Chapter 1
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. Please consult the Pioneer 2
H8 or the Performance PeopleBot manuals if you own
a newer, Hitachi H8S-based robot.
Robot Package
Our experienced manufacturing staff put your mobile robot and accessories through a
“burn in” period and carefully tested them before shipping the products to you. In
addition to the companion resources listed above, we warranty your ActivMedia robot
and our manufactured accessories against mechanical, electronic, and labor defects
for one year. Third-party accessories are warranted by their manufacturers, typically for
90 days.
Even though we’ve made every effort to make your ActivMedia Robotics package
complete, please check the components carefully after you unpack them from the
shipping crate.
Basic Components (all shipments)
! One fully assembled mobile robot with battery
! CD-ROM containing licensed copies of ActivMedia software and documentation
! Hex wrenches and assorted replacement screws
! Replacement fuse
! Set of manuals
! Registration and Account Sheet
Optional Components and Attachments (partial list)
! Battery charger (some contain power receptacle and 220VAC adapters)
! Onboard PC computer with PC104+ bus, hard-drive and other accessories
! Radio Ethernet and/or serial modems; one mounted inside the robot
! Companion radio for LAN or basestation connection
! Supplementary and replacement batteries
! 3-Battery Charge Station (110/220 VAC)
! Added sonar arrays
! Gripper
! 5-DOF Arm with gripper
! ActivMedia Color Tracking System (ACTS)
! Stereo Vision Systems
! Pan-Tilt-Zoom Surveillance Cameras
! Custom Vision System
! Range-finding laser
! Global Positioning System
! Compass
! Bumper rings
1

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, updates, and
manuals
! Access to private newsgroups
! Direct access to the ActivMedia Robotics technical support team
Software
We maintain a 24-hour, seven-day per week Web server where customers may obtain
software and support materials:
http://robots.activmedia.com
Some areas of the website are restricted to licensed customers. To gain access, enter
the username and password written on the Registration & Account Sheet that
accompanied your robot.
Newsgroups
We maintain several email-based newsgroups through which ActivMedia robot owners
share ideas, software, and questions about the robot. Visit the support
http://robots.activmedia.com website for more details. To sign up for pioneer-users,
for example, send an e-mail message to the –requests automated newsgroup server:
To: [email protected]
From: <your return e-mail address goes here>
Subject: <choose one command:>
help (returns instructions)
lists (returns list of newsgroups)
subscribe
unsubscribe
Our SmartList-based listserver will respond automatically. After you subscribe, send your
email comments, suggestions, and questions intended for the worldwide community of
Pioneer users:1
To: [email protected]
From: <your return e-mail address goes here>
Subject: <something of interest to pioneer users>
Access to the pioneer-users newslist is limited to subscribers, so your address is safe
from spam. However, the list currently is unmoderated, so please confine your
comments and inquiries to issues concerning the operation and programming of Pioneer
or PeopleBot robots.
1Note: Leave out the –requests part of the email address when sending messages to the newsgroup.
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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:
[email protected]
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. There a
staff member will help you or point you to a place where you can find help.
Because this is a support option, not a general-interest newsgroup like pioneer-users,
we reserve the option to reply only to questions about problems with your robot or
software.
See Chapter 8, Maintenance & Repair, for more details.
3

What Is Pioneer?Chapter 2
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 Robots
ActivMedia’s robots are truly intelligent, off-
the-shelf mobile platforms, containing all of
the basic components for sensing and
navigation in a real-world environment,
including battery power, drive motors and
wheels, position-speed encoders, integ-
rated sensors, and accessories. They are all
managed by an onboard microcontroller
and mobile-robot server software.
Your ActivMedia robot also has a variety of expansion power and I/O ports for
attachment and close integration of additional sensors and other accessories.
Expansion includes an addressable I/O bus for up to 16 devices, two RS-232 serial ports,
eight digital I/O ports, five A/D ports, PSU controllers and more—all accessible through a
common application interface to the robot server software, P2OS.
With the onboard computer option, your ActivMedia robot becomes an autonomous
agent. With Ethernet-ready onboard autonomy, your robot even becomes an agent for
multi-intelligence work.
Figure 3. Components and some accessories of the Pioneer 2-DX, many of which
are identical for the Pioneer 2-DXE and CE.
Client Software
Your ActivMedia robot is the server in a client-server environment: It handles the low-
level details of mobile robotics, including maintaining the platform’s drive speed and
heading over uneven terrain, acquiring sensor readings, such as the sonar, and
4