-
Pioneer Module Mobile - page 1
Gripper & Experimenter’ s Module Manual version 1.2 ...
-
Pioneer Module Mobile - page 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. The Saphira libraries and Pioneer software on disk and on the Pioneer server EPROM ...
-
Pioneer Module Mobile - page 3
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 1.3.1 Gripper Description 2 1.3.2 Experimenter’s Modu ...
-
Pioneer Module Mobile - page 4
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 5.2 Gripper Belt Adjustments 19 5.3 Factory Repairs 19 6. APPENDIX A 20 Example C Prog ...
-
Pioneer Module Mobile - page 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. This Pioneer 1 Gripper & Experimenter’s Module Manual provides the general and technical details you will need to install and operate yo ...
-
Pioneer Module Mobile - page 6
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., and is available exclusively through Activ Media, Inc. The basic Pioneer 1 Mobile platform contains all of the components for sensing and navigation in a real-world environment, in ...
-
Pioneer Module Mobile - page 7
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 8.5 inches (21.5cm) apart and ride 1 inch (2.3cm) off the floor. The paddles extend out fr ...
-
Pioneer Module Mobile - page 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. Under software control, the Gripper then rises to a s ...
-
Pioneer Module Mobile - page 9
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 . 2.4 Additional Resources Every Pioneer 1 customer gets three additional and valuable resources: a pr ...
-
Pioneer Module Mobile - page 10
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. ...
-
Pioneer Module Mobile - page 11
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. On t ...
-
Pioneer Module Mobile - page 12
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. Pry or pull out the socketed EPROM chi ...
-
Pioneer Module Mobile - page 13
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. Set t ...
-
Pioneer Module Mobile - page 14
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. Then, to the so ...
-
Pioneer Module Mobile - page 15
Gripper & Experimenter’s Module 11 4. Gripper Operation and Programming he Pioneer Gripper comes fully integrated with the robot’s systems and software. The latest versions of PSOS (4.2+) contains support for direct control of the Pioneer’s onboard I/O that run the Gripper functions, as well as state-based software control routines that m ...
-
Pioneer Module Mobile - page 16
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. The act of gripping and raising objects is mechanical and dependent on the Gripper ...
-
Pioneer Module Mobile - page 17
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. This way, you don’t need to know the state of the port(s) you want to change; just the state in which yo ...
-
Pioneer Module Mobile - page 18
Gripper Operation and Programming 14 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 ...
-
Pioneer Module Mobile - page 19
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 with a platform for adding your own robotics options and features (Figure 4-1): Easy access to Pioneer digital I/O, A/D, and timer functions Speaker w ...
-
Pioneer Module Mobile - page 20
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. Pioneer I/O ports and connection ...
-
Pioneer Module Mobile - page 21
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. The LCD message should now display: BREAK, Boot to r eturn vv.vV* indicating that P ...
-
Pioneer Module Mobile - page 22
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.) For example, to turn the right LED on, use: sfRobotCom2Bytes(s ...
-
Pioneer Module Mobile - page 23
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. Then start up th ...
-
Pioneer Module Mobile - page 24
20 7. 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 hereb ...
-
Pioneer Module Mobile - page 25
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 .... Ln Tn * where Li is length of tone i in ...
-
Pioneer Module Mobile - page 26
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 /* direction bit, 0 is down, 1 is up */ #define sfSPEAKERBIT 0x04 #define sfRIGHTLEDBIT 0x08 /* 0 is off, 1 is on */ #define sfLEFTLEDBIT 0x10 /* grip ...
-
Pioneer Module Mobile - page 27
Gripper & Experimenter’s Module 23 case sfRIGHT: which = sfRIGHTLEDBIT; break; default: which = 0; } switch(state) { case sfOFF: sfRobotCom2Bytes(sfCOMDIGOUT, which, 0); break; case sfON: sfRobotCom2Bytes(sfCOMDIGOUT, which, which); break; } } ...
-
Pioneer Module Mobile - page 28
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; where S = Motors status sfSTATUSNOPOWER Motors power off sfSTATUSSTOPPED Motors stopped sfSTATUSMOVING Robot moving Xpos unsigned int (15 ls-bits) Whee ...
-
Pioneer Module Mobile - page 29
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 package, 1 Pioneer 1 , 2 user-supplied, 1 COMSAY, 18 D Digin, 17 digital-to-analog ports, 18 Digout, 17 E EPROM location, 7 Experimenter’s Module Descr ...
-
Pioneer Module Mobile - page 30
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 pinouts, 16 O OD0, 12 OD1, 12 P paddles break beams, 4 positions, 4 paddles positions, 4 PAI, 11 Pioneer 1, 2 Pioneer Application Interface, 11 Pione ...
-
Pioneer Module Mobile - page 31
Gripper & Experimenter’s Module 27 ...
-
Pioneer Module Mobile - page 32
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. This warranty explicitly does not include damage from shipping or from abuse or inappropriate operation, such as if the robot is allowed to tumble or fall off ...
¿Tienes una pregunta acerca de Pioneer Module Mobile?
Utiliza el formulario que se encuentra abajo
Si con la ayuda del manual de instrucciones encontrado no has podido solucionar tu problema con Pioneer Module Mobile, haz una pregunta utilizando el formulario que se encuentra abajo. Si alguno de los usuarios ha tenido un problema parecido con Pioneer Module Mobile probablemente compartirá una forma de solucionarlo.