Pioneer 3™ Pioneer 2™ H8- Series Operations Manual

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ActivMedia Robotics Operating System With AROS versions 1.3 and later, many of the controller’s operating parameters return to their FLASH-based default values upon disconnection with the client. 18 For example, if the FLASH default for the maximum velocity is 1000 millimeters per second, and your client uses the SETV command #6 to reset the maximum velocity to 500 millimeters per second, the maximum velocity automatically will revert back to 1000 after your client disconnects and then reconnects for a subsequent session. MOTION COMMANDS The AROS motor-control servers accept several different client-motion commands of two mutually exclusive types: either independent-wheel or platform translational/rotational movements. The AROS servers automatically abandon any translational or rotational setpoints and switch to independent wheel-velocity controls when your client issues the independent-wheel VEL2 command #32, and vice versa. Note that once connected, ActivMedia robots’ motors are disabled, regardless of their state when last connected. Accordingly, you must either enable the motors manually (white MOTORS button on the User Control Panel) or send the motors ENABLE client command #4 with the argument value of one. 19 Monitor the status of the motors with bit 0 of the Flags integer in the standard SIP. When in independent-wheel velocity mode (VEL2), the robot’s motion-control servers do their best to maintain precise wheel velocities. In practice, wheel slippage and uneven terrain will cause the robot to change heading, which your client must detect and compensate. When in translational/rotational (TR) motion control mode (recommended), your robot’s servers work to maintain both platform speed and heading. Table 6. AROS motion commands Rotation HEAD (#12) Turn to absolute heading at SETRV max velocity DHEAD (#13), DCHEAD (#22) Turn to heading relative to control point at SETRV max velocity ROTATE (#9) Rotate at SETRV velocity Translation VEL (#11) Translate forward/reverse at prescribed velocity (SETV maximum) MOVE (#8) Translate distance at SETV max velocity Independent Wheel VEL2 (#32) Set velocity for each side of robot (SETV maximum) 18 With earlier versions, the changes persisted between sessions, and reverted to the FLASH defaults only after the controller was reset. 19 Alternatively, disable the motors with the ENABLE command argument of zero. 38
ActivMedia Robots in Motion ActivMedia Robotics ActivMedia robots use position, as opposed to velocity, motion controls to translate the platform a certain distance and turn it to a particular heading. To achieve constant translational (VEL), rotational (ROTATE), or independent-wheel (VEL2) velocities, the servers simply set the target position well ahead of the robot’s current position. When the robot controller receives a motion command, it accelerates or decelerates the robot at the translational SETA (#5) (TR and VEL2 modes) and rotational SETRA (#23; TR mode only) rates until the platform either achieves its SETV (#6) maximum translational and SETRV (#10) maximum rotational speeds, or nears its goal. Accordingly, rotational headings and translational setpoints are achieved by a trapezoidal velocity function, which AROS recomputes each time a new motion command is received. 20 v e l o c i t y max velocity a c c e l decel start position time position achieved short m o v e , max v e l o c i t y not r e a c h e d Figure 14. ActivMedia robot’s trapezoidal velocity profile p o s i t i o n a c h i e v e d AROS automatically limits VEL2-, VEL-, and RVEL-specified velocities to previously imposed, client-modifiable SETVEL and SETRV maximums, and ultimately by absolute, platform-dependent, FLASH-embedded constants. Similarly, the distinct acceleration and deceleration parameters for both translation and rotation are limited by FLASH constants. AROS initializes these values upon controller startup or reset from related FLASH parameters. The speed limits, either from FLASH or when changed by SETV or SETRV commands, take effect on subsequent commands, not previously established velocity or heading setpoints. And the maximums persist across client-server connection sessions until the controller is reset. Note that the emergency stop (E_STOP) command #55 or the Emergency STOP button that is found on some ActivMedia robots override deceleration and immediately stop the robot in the shortest distance and time possible. Accordingly, the robot brakes to zero translational and rotational velocities with very high deceleration and remains stopped until it receives a subsequent translational or rotational velocity command from the client or until the STOP button is reset. (See E_STOP and E_STALL later in this chapter.) PID Controls The AROS drive servers use a common Proportional-Integral-Derivative (PID) control system to adjust the PWM pulse width at the motor drivers and subsequent power to the motors. The motor-duty cycle is 200 microseconds; pulse-width is proportional 0-500 for 0- 100% of the duty cycle. 20 Note that acceleration and deceleration are distinct values, settable via SETA for translation and SETRA for rotation. 39
Page 1 and 2: Pioneer 3 & Pioneer 2 H8- Series Op
Page 3 and 4: Important Safety Instructions Activ
Page 5 and 6: ActivMedia Robotics Install Batteri
Page 7 and 8: Chapter 1 Introduction Congratulati
Page 9 and 10: ActivMedia Robotics Access to the p
Page 11 and 12: PIONEER FAMILY OF MICROCONTROLLERS
Page 13 and 14: ARIA ActivMedia Robotics goal that
Page 15 and 16: Pioneer 2 and PeopleBot ActivMedia
Page 17 and 18: ActivMedia Robotics where we notify
Page 19 and 20: MAIN COMPONENTS Deck ActivMedia rob
Page 21 and 22: ActivMedia Robotics system, radio m
Page 23 and 24: ActivMedia Robotics IMPORTANT: Batt
Page 25 and 26: Necessary 5 VDC power comes from a
Page 27 and 28: ActivMedia Robotics you’ll need t
Page 29 and 30: Chapter 4 Quick Start ActivMedia Ro
Page 31 and 32: ActivMedia Robotics needed), by sta
Page 33 and 34: ActivMedia Robotics Access each ARI
Page 35 and 36: Chapter 5 Joydrive and Self-Tests A
Page 37 and 38: Chapter 6 ActivMedia Robotics Activ
Page 39 and 40: ActivMedia Robotics examining those
Page 41 and 42: ActivMedia Robotics ENCODER 19 int
Page 43: Autoconfiguration (SYNC2) ActivMedi
Page 47 and 48: ActivMedia Robotics The orientation
Page 49 and 50: SERIALNUM str Serial number for the
Page 51 and 52: 1 Lift limit Lift fully up or down
Page 53 and 54: ActivMedia Robotics standard SIP, i
Page 55 and 56: ActivMedia Robotics Although diseng
Page 57 and 58: Chapter 7 Updating & Reconfiguring
Page 59 and 60: ActivMedia Robotics Similarly, this
Page 61 and 62: Table 16. AROS FLASH configuration
Page 63 and 64: STALLVAL AND STALLCOUNT ActivMedia
Page 65 and 66: ActivMedia Robotics to the charger
Page 67 and 68: ActivMedia Robotics Figure 19. Remo
Page 69 and 70: Serial Ports ActivMedia Robotics Tw
Page 71 and 72: 3 BP2 Bumper bit 2 4 BP3 Bumper bit
Page 73 and 74: Appendix B Power Distribution Activ
Page 75 and 76: Table 31. User Power connector (12-
Page 77 and 78: Appendix D SPECIFICATIONS Physical
Page 79: Warranty & Liabilities Your ActivMe

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