Instruction/ maintenance manual of the product Module Mobile Pioneer
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Gripper & Experimenter’ s Module Manual version 1.2.
Gripper & Experimenter’s Module ii Copyright 1997, Activ Media, Inc. 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 Activ Media, Inc.
iii Pioneer Gripper & Experimenter’s Module Manual version 1.2, August 1997. Contents Page 1. INTRODUCTION 1 1.1 Gripper and Experimenter’s Package 1 1.1.1 Package Components 1 1.1.2 User Supplied Components 1 1.2 Basic Pioneer Platform 2 1.3 The Gripper & Experimenter’s Module 2 1.
iv 4. EXPERIMENTER’S MODULE 15 4.1 I/O Ports 15 4.1.1 Digin: Self-Test 17 4.1.2 Digout: Self-Test 17 4.2 Programming the Digital I/O Ports 18 4.3 Programming the A/D Ports 18 4.4 Programming the Speaker 18 5. MAINTENANCE & REPAIR 19 5.1 Drive Lubrication 19 5.
Gripper & Experimenter’s Module 1 1. Introduction ongratulations on your purchase and welcome to the rapidly growing community of researchers, developers, and enthusiasts of the Pioneer 1 Mobile Robot.
Overview 2 2.2 Basic Pioneer Platform Pioneer 1 is a small, mobile robot developed by Kurt Konolige of SRI International and Grinnell More of Real World Interface, Inc.
Gripper & Experimenter’s Module 3 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.
Overview 4 In transition from the fully down/open position to their up/closed state, the Gripper paddles close together horizontally until they pinch an object or close on themselves. At that point, the entire Bar and Gripper Assembly rises up vertically—with or without an object in its grasp.
Gripper & Experimenter’s Module 5 digital ports. There also is circuitry and a connector for an as-yet-implemented remote- controller IR. A complete list of available I/O ports and connections can be found in Chapter 4, Experiment’s Module . 2.
Overview 6 2.4.3 Support Have a problem? Can’t find the answer in this or any of the accompanying manuals? Know a way that we might improve Pioneer 1? Share your thoughts and questions directly with us: pioneer-support@rwii.com Your message goes to our team of Pioneer developers who will help you directly or point you to where you may find help.
Gripper & Experimenter’s Module 7 3. Installation lease read through this chapter carefully before you attempt to attach the Gripper & Experimenter’s Module to your Pioneer 1 Mobile Robot. If for any reason you do not wish to perform the work yourself, contact RWI and make arrangements to have the assembly installed at the factory.
Installation 8 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.
Gripper & Experimenter’s Module 9 press carefully, but firmly down on the chip with your thumb or forefinger to seat it tightly in the socket. 3.1.4 Step 4 Reattach Microcontroller to Console By reversing the procedures you took in Step 2 and using the same tools and screws, reattach the Pioneer microcontroller to the Console top plate.
Installation 10 3.1.8 Step 8 Re-Attach the Console Cables Carefully handling the Console top plate with attached microcontroller by its edges, reattach the various cables, front and back. Although the order is not critical, for convenience we recommend attaching the front cables first the sonar and drive (left and right) cables.
Gripper & Experimenter’s Module 11 4. Gripper Operation and Programming he Pioneer Gripper comes fully integrated with the robot’s systems and software.
Gripper Operation and Programming 12 4.3 Gripper I/O The Gripper’s single drive motor is controlled through two digital output lines and under control of the microcontroller CPU: Output port OD0 controls the direction of rotation and OD1 enables/disables the motor.
Gripper & Experimenter’s Module 13 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.
Gripper Operation and Programming 14 Table 3-2. Gripper functions /************************************************************* * Gripper functions --- For setting and retrieving gripper states * Sta.
Gripper & Experimenter’s Module 15 5. Experimenter’s Module esides hosting the Gripper, the Experimenter’s Module brings several new features to the Pioneer 1 Mobile Robot, and provides you .
Experimenter’s Module 16 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: 1 3 5 7 9 11 13 15 2468 1 0 1 2 1 4 1 6 Table 4-1.
Gripper & Experimenter’s Module 17 5.1.1 Digin: Self-Test You may investigate the operation of the digital input and output ports through their PSOS self-test modes. After starting up your Pioneer, press the black Function button once to enable self-test mode.
Experimenter’s Module 18 5.2 Programming the Digital I/O Ports Use the sfCOMDIGOUT PSOS command and the related Saphira convenience command to manage the various digital output ports. They are described in detail in the previous chapter. (PAI and P-LOGO support similar commands, too.
Gripper & Experimenter’s Module 19 6. Maintenance & Repair he Pioneer Gripper is built to last a lifetime and requires little maintenance. 6.1 Drive Lubrication An occasional drop or two of oil on the guide rails is a very good idea. Place some thin, household oil on a Q-Tip or similar applicator, and rub along the rails.
20 7. Appendix A Example C Program Demonstrates Gripper and Speaker Functions /* ################################################################ * gripper.
Gripper & Experimenter’s Module 21 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 .
22 /* gripper control bits (DIGOUTPUT) */ #define sfGRIPSTATEMASK 0x05 /* picks out state bits in DIGOUTPUT */ #define sfGRIPMOTORBIT 0x02 /* motor bit, 0 is off, 1 is on */ #define sfGRIPDIRBIT 0x01 .
Gripper & Experimenter’s Module 23 case sfRIGHT: which = sfRIGHTLEDBIT; break; default: which = 0; } switch(state) { case sfOFF: sfRobotCom2Bytes(sfCOMDIGOUT, which, 0); break; case sfON: sfRobo.
24 8. Appendix B Pioneer Server Information Packet Name Data Type Description Header int Exactly 0xFA, 0xFB Byte Count byte Number of data bytes + 2; must be less than 201 (0xC9) Status byte = 0x3S; w.
Gripper & Experimenter’s Module 25 9. Index A A/D, 18 A/D port, 15 Activ Media, Inc., 2 Additional Resources, 5 B break beams, 4 C carry switch, 4 COMDIGOUT, 12, 13 COMGRIPPER, 12 components pac.
26 console removal, 7 EPROM location, 7 EPROM replacement, 7 microcontroller removal, 7 K Konolige, Kurt, 2 L LEDs, 18 M majordomo , 5 microcontroller, 8 More, Grinnell, 2 N newsgroups, 5 Nose I/O, 16.
Gripper & Experimenter’s Module 27.
28 Warranty & Liabilities Your Pioneer 1 Mobile Robot and its accessories are fully warranted against defective parts or assembly for 90 days after it is shipped to you from the factory.
An important point after buying a device Pioneer Module Mobile (or even before the purchase) is to read its user manual. We should do this for several simple reasons:
If you have not bought Pioneer Module Mobile yet, this is a good time to familiarize yourself with the basic data on the product. First of all view first pages of the manual, you can find above. You should find there the most important technical data Pioneer Module Mobile - thus you can check whether the hardware meets your expectations. When delving into next pages of the user manual, Pioneer Module Mobile you will learn all the available features of the product, as well as information on its operation. The information that you get Pioneer Module Mobile will certainly help you make a decision on the purchase.
If you already are a holder of Pioneer Module Mobile, but have not read the manual yet, you should do it for the reasons described above. You will learn then if you properly used the available features, and whether you have not made any mistakes, which can shorten the lifetime Pioneer Module Mobile.
However, one of the most important roles played by the user manual is to help in solving problems with Pioneer Module Mobile. Almost always you will find there Troubleshooting, which are the most frequently occurring failures and malfunctions of the device Pioneer Module Mobile along with tips on how to solve them. Even if you fail to solve the problem, the manual will show you a further procedure – contact to the customer service center or the nearest service center
