Pioneer 3™ Operations Manual

Quick Start
the source code). Release the arrow key to have the robot slow down and stop. Press
and hold the right- or left-arrow key to have the robot rotate or turn in an arc if you also
hold down the up- or down-arrow key.
The other modes of ARIA demo operation give you access to your robot’s various sensors
and accessories, including encoders, sonar, laser, Gripper, a pan-tilt-zoom robotic
camera, I/O port states, bumpers, and more. Accordingly, use the ARIA demo not only
as a demonstration tool, but as a diagnostic one, as well, if you suspect a sensor or
effector has failed or is working poorly. The demo also is useful for calibrating your robot’s
drive system.
Access each ARIA demo mode by pressing its related hot-key: ‘t’, for instance, to select
teleoperation. Each mode includes onscreen instructions and may have sub-menus
for operating of the respective device.
DISCONNECTING
When you finish, press the Esc key to disconnect the ARIA client from your robot server
and exit the ARIA demonstration program. Your robot should disengage its drive motors
and stop moving, and its sonar should stop firing. You may now slide the robot’s Main
Power switch to OFF.
TROUBLESHOOTING
Most problems occur when attempting to connect the ARIA client with a robot for the
first time. The process can be daunting if you don’t make the right connections and
installations.
Proper Connections
Make sure you have ARIA properly installed and that your robot and connections are
correct. A common mistake with Linux is not having the proper permissions on the
connecting serial port.
Make sure your robot’s batteries are fully charged (battery LED green). The robot servers
shut down and won’t allow a connection at under ShutdownVolts.
ATTENTION!
The ARIA-to-robot connection is SERIAL only. Accordingly, run the ARIA
demo client with the onboard or piggyback computer, over radio
modems, or over the network with the radio Ethernet-to-serial device.
If you are using the onboard PC or radios, the serial connection is internal and
established at the factory; you should not have problems with those cables. Simply
make sure the AUX1 switch on the User Control Panel is engaged (associated LED lit), for
example. And remove any serial cable that is plugged into the User Control Panel as it
may interfere with internal serial communication.
With other serial connections, make sure to use the proper cable: a “pass-through” one,
minimally connecting pins 2, 3, and 5 of your PC’s serial port to their respective contacts
of the robot’s serial port on the User Control Panel.
If you access the wrong serial port, the ARIA demonstration program will display an error
message. If the robot server isn't listening or if the serial link is severed somewhere
between the client and server (cable loose or the radio is off, for instance), the client will
28