hit counter script
Pioneer Module Mobile Manual
  1. Manuals
  2. Brands
  3. Pioneer Manuals
  4. Robotics
  5. Module Mobile
  6. Manual
Pioneer Module Mobile Manual

Pioneer Module Mobile Manual

Gripper & experimenter's module mobile robot manual
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Gripper
&
Experimenter' s Module
Manual
version 1.2

Advertisement

Table of Contents
loading

Related Manuals for Pioneer Module Mobile

Summary of Contents for Pioneer Module Mobile

  • Page 1 Gripper & Experimenter’ s Module Manual version 1.2...
  • Page 2 ActivMedia, Inc. The Saphira libraries and Pioneer software on disk and on the Pioneer server EPROM that accompany the robot and accessories and which are available for network download by Pioneer 1 customers are solely owned and copyrighted by Kurt Konolidge and SRI International.

  • Page 3: Table Of Contents

    Pioneer Gripper & Experimenter’s Module Manual version 1.2, August 1997. Contents 1. INTRODUCTION 1.1 Gripper and Experimenter’s Package 1.1.1 Package Components 1.1.2 User Supplied Components 1.2 Basic Pioneer Platform 1.3 The Gripper & Experimenter’s Module 1.3.1 Gripper Description 1.3.2 Experimenter’s Module Description 1.4 Additional Resources...
  • Page 4 4.4 Programming the Speaker 5. MAINTENANCE & REPAIR 5.1 Drive Lubrication 5.2 Gripper Belt Adjustments 5.3 Factory Repairs 6. APPENDIX A Example C Program Demonstrates Gripper and Speaker Functions 7. APPENDIX B Pioneer Server Information Packet 8. INDEX WARRANTY & LIABILITIES...

  • Page 5: Introduction

    Experimenter’s Module through a “burn-in” period and carefully tested them before we shipped the hardware and software to you. Our care extends beyond: Besides the companion resources listed above that bring the whole community of Pioneer to you, we warranty the Gripper and Experimenter’s Module against mechanical and electronic parts and labor defects for 90 days.

  • Page 6: Basic Pioneer Platform

    Pioneer 1 microcontroller’s standard I/O ports, including electrical support for the Pioneer Gripper. The Experimenter’s Module is part of the Pioneer Gripper assembly, which together replace the nose the of basic robot (see Figures 1-1 and 1-2 and Chapter 2, Installation).
  • Page 7 Gripper & Experimenter’s Module Figure 1-2 Pioneer Gripper side view. Figure 1-3. Pioneer Gripper top view In its fully down/open state, the two 2.5 inch (5cm) tall by 3.5 inch (9.5cm) deep Gripper paddles (each with 0.5cm foam pads on the inside) are 8.5 inches (21.5cm) apart and ride 1 inch (2.3cm) off the floor.

  • Page 8: Experimenter's Module Description

    The Experimenter’s Module includes several additional features that users may enable through the Pioneer I/O controls: There are green “directional” LEDs embedded in the tip of each paddle and at the top of each side, facing front on the Gripper’s back plate.

  • Page 9: Additional Resources

    Some access areas are restricted to licensed customers, including Pioneer owners. To gain restricted access, use the username and password that are written on the Pioneer 1 Registration & Account Sheet that accompanied your robot. 2.4.2 Pioneer and Saphira Newsgroups RWI also maintains a special E-mail-based newsgroup for Pioneer 1 owners and Saphira programmers to share ideas, software, and questions.

  • Page 10: Support

    Your message goes to our team of Pioneer developers who will help you directly or point you to where you may find help. Because this is a support option, not a general- interest newsgroup like Pioneer-users described above, we must reserve the option to...

  • Page 11: Installation

    RWI and make arrangements to have the assembly installed at the factory. On the other hand, skip this chapter altogether if your Pioneer 1 Mobile Robot came with the Gripper & Experimenter’s Module Assembly already attached.

  • Page 12: Step 3: Replace The Psos Eprom

    Figure 2-1. Pioneer 1 microcontroller card 3.1.3 Step 3: Replace the PSOS EPROM Locate the EPROM/SRAM socket (Figure 2-2) on the microcontroller card and note that the Pin 1 locator notch on its case is towards the outer edge of the board—you’ll want to similarly position the new PSOS EPROM.

  • Page 13: Step 4 Reattach Microcontroller To Console

    The Gripper/Experimenter’s Module replaces the Pioneer’s nose. Use the hex wrenches that came with your robot to remove the six screws that secure the Nose to the Pioneer Deck and Body: four on top of the Deck and one on each side at the bottom. Store the Nose away.

  • Page 14: Step 8 Re-Attach The Console Cables

    Console top plate and into the radio modem beneath. 3.1.10 Step 10 Test the Assembly Time to switch on the Pioneer’s Main Power and sniff for blue smoke. If sparks don’t fly and smoke is absent, the Pioneer will automatically exercise it’s new Gripper and finish with three loud and firm beeps through the newly attached speaker—not that weak,...

  • Page 15: Gripper Operation And Programming

    4.1 Gripper Self Test Gripper-enabled versions of PSOS come with test routines for all the main functions of the robot. This section describes the Gripper’s self-test. Consult the Pioneer 1 Operations and Software Manual for a detailed description of the location and operation of the various Console function buttons and switches and for how to test the drive and I/O systems, sonars, and processor.

  • Page 16: Gripper I/O

    There also are some Saphira convenience functions defined for getting and setting the gripper state. For details on programming PSOS directly and through Saphira, consult the Saphira Software and Pioneer Operations and Software Manuals. sfCOMDIGOUT control of Pioneer digital output ports has been changed in PSOS version 4.2 and later.

  • Page 17: Direct Control Via Digital Ports

    The revised PSOS 4.2 (and later) sfCOMDIGOUT command has a two-byte argument: The high byte is a mask of those output bits you want to change, and the low byte is the bit pattern for the bits to change. This way, you don’t need to know the state of the port(s) you want to change;...
  • Page 18 Table 3-2. Gripper functions /************************************************************* * Gripper functions --- For setting and retrieving gripper states * States are sfGRIPUP, sfGRIPDOWN, sfGRIPMIDDLE, sfGRIPOFF, and sfGRIPMOVING sfGRIPMOVING occurs only during transitions between states sfGRIPOFF can be set by the user, which means no state control sfGRIPOFF is set by the robot to indicate a timeout (6 seconds) if a state is not achieved **************************************************************/...

  • Page 19: Experimenter's Module

    The I/O ports and their uses are summarized in Table 4-1. The Vcc ports supply logic power, so use them for that purpose only. The Pioneer microcontroller has a single A/D port that appears on both the General I/O connector and Nose I/O connector. This port is multiplexed into eight A/D ports on the Experimenter’s platform.
  • Page 20 Note also that the Nose (N) 16-pin and the General (G) 26-pin I/O connectors are numbered odd pins on top and even pins on the bottom; not top, left to right, then bottom left to right. The pinouts for the Nose connector, for example, are: Table 4-1. Pioneer I/O ports and connections Label Connector/Pin...

  • Page 21: Digin: Self-Test

    5.1.2 Digout: Self-Test Press the black Function button on the Console once more to set the Pioneer into a self-test of its digital outputs. The test is pretty braindead: It simply toggles the odd and even output ports alternately off and on: AA, 55, AA, 55, and so on. Watch the LEDs flash on and off, the speaker click, and the Gripper twitch.

  • Page 22: Programming The Digital I/O Ports

    The eight analog-to-digital (A/D) ports on the Experimenter’s Module (AN0-7) are multiplexed from a single A/D port on the Pioneer 1 microcontroller. Hence, only one port may be read at a time, although all eight ports may connect to individual sources.

  • Page 23: Maintenance & Repair

    This gear, too, has a screwdriver slot, which you loosen to tighten the belt. 6.3 Factory Repairs If you are having hardware problems with your Pioneer 1 and, after reading this manual, you are satisfied that it needs repair, here’s who to contact: pioneer-support@rwii.com...

  • Page 24: Example C Program Demonstrates Gripper And Speaker Functions

    Appendix A Example C Program Demonstrates Gripper and Speaker Functions /* ################################################################ * gripper.c --- Saphira-based functions for controlling the gripper and speaker *################################################################# ** Copyright 1997 by Kurt Konolige ** The author hereby grants to SRI permission to use this software. ** The author also grants to SRI permission to distribute this software ** to schools for non-commercial educational use only.
  • Page 25 void sfRobotCom2Bytes(int com, int high, int low) sfRobotComInt(com, ((high & 0xff)<<8) + (low & 0xff)); /************************************************************* * Speaker functions -- play a tone string * Format of string is L1 T1 L2 T2 ... Ln Tn * where Li is length of tone i in 20ms increments * and Ti is tone half-cycle time in 150us increments * Max length of string is 40 bytes (20 tones) **************************************************************/...
  • Page 26 /* gripper control bits (DIGOUTPUT) */ #define sfGRIPSTATEMASK 0x05 #define sfGRIPMOTORBIT 0x02 #define sfGRIPDIRBIT 0x01 #define sfSPEAKERBIT 0x04 #define sfRIGHTLEDBIT 0x08 #define sfLEFTLEDBIT 0x10 /* gripper sense bits (DIGINPUT) */ #define sfGRIPTOPBIT 0x01 #define sfGRIPMIDBIT 0x02 #define sfGRIPBOTBIT 0x04 #define sfGRIPINIRBIT 0x08 #define sfGRIPOUTIRBIT 0x10 #define sfGRIPBUMPBIT 0x20 #define sfGRIPMOMBIT...
  • Page 27 case sfRIGHT: which = sfRIGHTLEDBIT; break; default: which = 0; switch(state) case sfOFF: sfRobotCom2Bytes(sfCOMDIGOUT, which, 0); break; case sfON: sfRobotCom2Bytes(sfCOMDIGOUT, which, which); break;...

  • Page 28: Pioneer Server Information Packet

    Appendix B Pioneer Server Information Packet Name Data Type Header byte Byte Count byte = 0x3S; where S = Status sfSTATUSNOPOWER sfSTATUSSTOPPED sfSTATUSMOVING unsigned int (15 ls-bits) Xpos unsigned int (15 ls-bits) Ypos Th pos signed int L vel signed int...

  • Page 29: Index

    ActivMedia, Inc., 2 Additional Resources, 5 break beams, 4 carry switch, 4 COMDIGOUT, 12, 13 COMGRIPPER, 12 components package, 1 Pioneer 1, 2 user-supplied, 1 COMSAY, 18 Digin, 17 digital-to-analog ports, 18 Digout, 17 EPROM location, 7 Experimenter’s Module Description, 4...
  • Page 30 4 positions, 4 paddles positions, 4 PAI, 11 Pioneer 1, 2 Pioneer Application Interface, 11 Pioneer Operations and Software Manual, 1 Pioneer Server Operating System. See PSOS Pioneer-LOGO, 11 PlayToneString, 18 P-LOGO, 11 PSOS, 11. See PSOS...
  • Page 31 Gripper & Experimenter’s Module...

  • Page 32: Warranty & Liabilities

    The developers, marketers, or manufacturers shall not be held responsible for any injury to persons or property involving the Pioneer 1 Mobile Robot in any way. They shall bear no responsibilities or liabilities for any operation or application of the robot, or for support of any of those activities.

Table of Contents