Pioneer KEH-P6020RB Cassette Player User Manual
Contents
1. if n gt 40 n 40 sfRobotComStrn sfCOMSAY str n FTAREEEKRERRERELE LARE TANN RARE ERA LORE TRAST ERE AREE ERS AARE EARS Gripper functions set and retrieve gripper state States are sfUP sDOWN sfMIDDLE sfOFF and sfMOVING i sfMOVING occurs only during transitions between states sfOFF can be set by the user which means no state control sfOFF can be set by the robot to indicate a timeout ARFERAAKENIR ERE AEA KERI ERPS EE EATHRARE REAP ERRAL ERED PERE SE RESALES states define sfGRIPOFF 0 define sfGRIPUP 1 define sfGRIPMOVING 2 define sfGRIPMIDDLE 4 define sfGRIPDOWN 5 define sfCOMGRIPPER 33 continued 21 22 gripper control bits DIGOUTPUT define stGRIPSTATEMASK 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 Ois off 1 is on define sfLEFTLEDBIT 0x10 gripper sense bits DIGINPUT define sfGRIPTOPBIT 0x01 top limit O if hit define sfGRIPMIDBIT 0x02 mid level O if hit define sfGRIPBOTBIT 0x04 bottom limit O if hit define sfGRIPINIRBIT 0x08 inner IR 0 is beam break define sfGRIPOUTIRBIT 0x10 outer IR define sfGRIPBUMPBIT 0x20 gripper bumpers 0 is bump define sfGRIPMOMBIT 0x40 momentary switch 0 is pressed define sfGRIPSPST2. 25 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 ODO 12 OD1 12 P paddles break beams 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 EPROM 7 PSOS EPROM 7 26 R RC servo controllers 4 Real World Interface ii Real World Interface Inc 2 RobotCom2Bytes 13 RWI ii See Real World Interface Inc S Saphira 11 sfCOMDIGOUT 12 13 sfCOMGRIPPER 12 sfCOMSAY 18 sfGRIPMOVING 13 sfGRIPOFF 13 sfGripperGetState 13 sfGripperSetState 13 sfPlayToneString 18 sfROBOT digoutput 13 sfRobotCom2Bytes 13 Saphira Software Manual 1 SAY 18 self test 11 Digin 17 Digout 17 Server Information Packet 11 sfGripperSetState 13 speaker 18 SRI International 2 state commands 13 state switches 12 support 6 warranty 28 Gripper amp Experimenter s Module 27 Warranty amp 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 shippi
3. PAI and P LOGO support similar commands too For example to turn the right LED on use sfRobotCom2Bytes sfCOMDIGOUT sfRIGHTLEDBIT sfRIGHTLEDBIT Or alternatively specify the state of an LED void sfGripperSetLed int which int state for which sfLEFT or sfRIGHT and state sfON or sfOFF 5 3 Programming the A D Ports The eight analog to digital A D ports on the Experimenter s Module ANO 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 Each AN port accepts a 0 5VDC analog input and outputs a proportionally related single byte value 0 255 Use the digital output ports OD5 7 to address which port PSOS will read and return as the A D value in the Server Information Packet section 3 2 PSOS Server Information Packet For example the following Saphira command addresses the AN4 port by masking the OD5 7 ports setting OD7 and resetting ODS and OD6 remaining output ports remain untouched sfRobotCom2Bytes sfCOMDIGOUT O0xE0 0x80 5 4 Programming the Speaker The latest PSOS implements a new command called SAY which plays a sequence of up to 20 notes through the Experimenter s Module speaker Now your Pioneer will be humming a different tune The SAY command number 15 has two arguments a string up to 40 bytes long and the integer number of actual bytes in the string sfRobotComStrn s
4. amp Experimenter s Module Manual version 1 2 August 1997 Contents Page 1 INTRODUCTION ili 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 amp Experimenter s Module 1 3 1 Gripper Description 1 3 2 Experimenter s Module Description 1 4 Additional Resources 1 4 1 Pioneer Web Software Archive 1 4 2 Pioneer and Saphira Newsgroups 1 4 3 Support 2 INSTALLATION 2 1 1 Step 1 Remove the Console 2 1 2 Step 2 Remove Microcontroller from Console 2 1 3 Step 3 Replace the PSOS EPROM 2 1 4 Step 4 Reattach Microcontroller to Console 2 1 5 Step 5 Remove Nose 2 1 6 Step 6 Connect Cables 2 1 7 Step 7 Attach Gripper Experimenter s Module to Pioneer 2 1 8 Step 8 Re Attach the Console Cables 2 1 9 Step 9 Re Attach the Console 2 1 10 Step 10 Test the Assembly 3 GRIPPER OPERATION AND PROGRAMMING 3 1 Gripper Self Test 3 2 PSOS Server Information Packet 3 3 Gripper I O 3 4 Gripper Programming 3 4 1 Direct Control via Digital Ports 3 4 2 State Commands DAnnn ANN N ua 4 EXPERIMENTER S MODULE 4 1 I O Ports 4 1 1 Digin Self Test 4 1 2 Digout Self Test 4 2 Programming the Digital I O Ports 4 3 Programming the A D Ports 4 4 Programming the Speaker 5 MAINTENANCE amp REPAIR 5 1 Drive Lubrication 5 2 Gripper Belt Adjustments 5 3 Factory Repairs 6 APPENDIX A Example C Program Demonstrates Gripper and
5. 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 On the left side of the Gripper there is a speaker an SPST on off slide switch a momentary push button switch and another LED amber o N Gripper SLIDE SW RCO RC7 LED Li ice PUSHBUTTON NOSE 1 0 GENERAL 1 0 cer EXPERIMENTER S POWER PLATFORM 5 wc 9 E 893983 88 8 12 IR 6 0 6 6 6 6 GND i Figure 1 4 Pioneer 1 Experimenter s Module Inside and on the Experimenter s Module is a bank of eight RC servo controller ports Layout solder pads with DC power and I O port connections supplied by the Pioneer microcontroller also are on the Module card as well as eight multiplexed analog to Gripper amp Experimenter s Module 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 Resourc
6. Speaker Functions 7 APPENDIX B Pioneer Server Information Packet 8 INDEX WARRANTY amp LIABILITIES 15 15 17 17 18 18 18 19 19 19 19 20 24 25 28 iv Gripper amp Experimenter s Module 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 amp Experimenter s Module Manual provides the general and technical details you will need to install and operate your new Gripper and to develop your own attachments and enhancements for the Pioneer 1 Mobile Robot with the integrated Experimenter s Module We also encourage you to use these companion resources that come with your Pioneer Pioneer Operation Manual Saphira Software Manual Pioneer Registration amp Account Sheet Personal account for the http css activmedia com Internet server Pioneer and Saphira users rwii com support newsgroups LANG 2 1 Gripper and Experimenter s Package Our experienced robotics manufacturing staff put your Pioneer 1 Gripper and 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
7. also will accept a new state command sfCOMGRIPPER to achieve a gripper state and sets the gripper motor bits appropriately 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 4 4 1 Direct Control via Digital Ports 12 Gripper amp Experimenter s Module 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 you want them to be and you won t change the state of any of the other ports The Saphira function sfRobotCom2Bytes packages the stfCOMDIGOUT command and values for you For example sfRobotCom2Bytes sfCOMDIGOUT 0x20 0x00 resets bit 5 OD0 0 and leaves everything else alone Accordingly make the Gripper go up sfRobotCom2Bytes sfCOMDIGOUT 0x3 0x3 Go down sfRobotCom2Bytes sfCOMDIGOUT 0x3 0x2 And stop sfRobotCom2Bytes sfCOMDIGOUT 0x2 0x00 You have to monitor the various Gripper state switches to determine if and when it achieves a particular state fully down with padd
8. and labor defects for 90 days All of these precautions ensure that you have many years to enjoy your new accessories for the Pioneer 1 Mobile Robot Even though we ve made every effort to make your package complete please check the components once again after you unpack it from the shipping crate 2 1 1 Package Components Pioneer 1 Gripper amp Experimenter s Module Assembly Y 32K EPROM containing latest PSOS V Gripper amp Experimenter s Module Manual 2 1 2 User Supplied Components Pioneer 1 Mobile Robot Set of hex wrenches that accompanied original robot Small flat bladed screwdriver Optional chip puller tool Ay RY Overview 2 2 Basic Pioneer Platform Pioneer 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 ActivMedia Inc The basic Pioneer 1 Mobile platform contains all of the components for sensing and navigation in a real world environment including battery power drive motors and wheels position encoders and ultrasonic sonar transducers all managed via an MC68HC11 based microcontroller board Figure 1 1 Liquid Radio Antenna eal Console modera inmi opacred Wale r Display A sg Sonar a Indicators Fi na h Rady ATN ee ae Nose rn dm Serial aster Drive Wheels O i Port Figure 1 1 Basic components of the Pioneer 1 The Pioneer
9. off the floor The paddles extend out from the front robot s main body 3 inches 10cm beyond the console edge Overview 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 special carry position or all the way to the top of the Gripper case 4 inches 10 5 cm off the floor to its closed up position It is not normally possible to open the Gripper at this state The reverse cycle lowers the Gripper Bar and paddles to the bottom of the assembly whereupon the paddles separate dropping any contents and open to their fully down open position Two bump switches one on each paddle tip sense contact with objects IR based break beams embedded at the front and back of each paddle sense objects between and within the Gripper s grasp Three other switches sense the Gripper s paddle positions One switch inside the Bar is on when the Gripper paddles are in their fully open position Another at the top of the Bar toggles on when the Gripper reaches its fully up position A third carry switch located behind the Bar indicates when the Gripper is between 1 5 and 2 inches 4 5cm off the floor 2 3 2 Experimenter s Module Description The
10. the gear With your thumb press down on the gear inside the belt until the belt is fairly taut but not high strung then tighten the screw to hold the gear in place Look inside the Gripper Bar On the left side facing you right side of the robot is another belt and gear similar to the up down belt 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 In the body of your E mail or fax message describe the problem in as much detail as possible Also include your name E mail and mail addresses as well as phone and fax numbers and when and how we can best contact you we will assume E mail is the best manner unless otherwise notified We will try and resolve the problem through communication If the robot must be returned to the factory for repair obtain a shipping and repair authorization code and shipping details from us first We are not responsible for shipping damage or loss 19 7 Appendix A 20 Example C Program Demonstrates Gripper and Speaker Functions U GREE Ee stia cerato csi itti gripper c Saphira based functions for controlling the gripper and speaker GHEE HEA HARARAHAHAHHHHHHHH Copyright 1997 by Kurt Konolige The author hereby grants to SRI permission to use this softwa
11. will expose the lower socket for easier attachment of the robot s power connector Do re insert the new power cable from the Module back into its socket before proceeding with the installation Do not switch the connectors plugging the robot s power cable into the upper socket otherwise no damage will occur but the Gripper will activate without provocation 3 1 7 Step 7 Attach Gripper Experimenter s Module to Pioneer Use the hex wrenches that came with your robot and the screws you removed from the robot s Nose to attach the Gripper Experimenter s Module to the Deck 4 screws no screws attach to the Pioneer Body as they do for the Nose Installation 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 sockets on the rear of the microcontroller attach the 4 pin serial connector the new 16 pin Nose I O and 26 pin General I O connectors and finally the new power connector to their respective sockets 3 1 9 Step 9 Re Attach the Console Align the Console top plate with microcontroller on top the Console and using the tools and the screws from Step 2 reattach it to the robot body Reattach the camera to the front of the Console as well if it is with y
12. you must first disassemble the Pioneer Console With one of the hex wrenches that came with your robot remove the six outermost screws that secure the top plate to the Console two on the front including camera if attached and two on each side If one is attached carefully unplug and remove the Pioneer camera from the Console and back panel Also unscrew and remove the radio modem antenna if attached Twist counter clockwise to remove and twist clockwise to insert the various screws Gently lift the Console top plate to expose the microcontroller board which is mounted to its underside and the various wire harnesses attached to it Being careful to not handle the attached microcontroller card remove the wire connectors on both sides of the card from their sockets freeing the Console top plate with the microcontroller card attached 3 1 2 Step 2 Remove Microcontroller from Console Lay the Console top plate face up with the Pioneer microcontroller card down onto a clean soft surface first section of the Sunday Times is a great pad Locate and remove the six hex screws one in each side and two in the middle which secure the microcontroller board to the Console top plate Separate the parts The microcontroller board should be exposed now face up on the table Figure 2 1 Installation 8 O m EUNCTION Li ENCODER FONAR SENSORS Foe O E ETTI TITTI TITTI pors ADS M tO RESE
13. 1 also comes with the Pioneer Server Operating System PSOS software on EPROM for easy access and control of the robot s systems an RS232 serial port for communication between the robot and other computers as well as a variety of expansion T O ports for optional and custom attachments 2 3 The Gripper amp Experimenter s Module The Pioneer 1 Experimenter s Module essentially is a circuit board and accessory electronics that extend the capabilities of the 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 2 3 1 Gripper Description The Pioneer Gripper is a simple yet powerful 2 DOF robotic manipulator and sensor Figure 1 2 and Figure 1 3 Driven by a single reversible DC servo motor under control of the Pioneer microcontroller it operates between two states down open and up closed Gripper amp Experimenter s Module 1hicm Tiam Figure 1 2 Pioneer Gripper side view RIGHT pump fi FOAM PAD 9 5em PADDLES 21 5cm y BAR cen LEFT LED BUMP 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
14. ACtiy IVMEDIA o o Mobile Robot l with Saphira Software o o Gripper amp Experimenter s Module Manual Gripper amp Experimenter s Module Copyright 1997 ActivMedia 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 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 Pioneer 1 developers and users are authorized by revocable license to develop and operate custom software for personal research and educational use only Duplication distribution reverse engineering or commercial application of the Pioneer software and hardware without the expressed written consent of SRI International and ActivMedia Inc is explicitly forbidden REAL WORLD INTERFACE Real World Interface RWI Inc manufactures the Pioneer 1 Mobile Robot and Gripper Experimenter s Module accessories The various names and logos for products used in this manual are registered trademarks or trademarks of their respective companies Mention of any third party hardware or software constitutes neither an endorsement nor a recommendation il Pioneer Gripper
15. BIT 0x80 SPST switch 0 is up int returns the robot gripper state setpoint sfGripperGetState void if flakey digoutput amp sfGRIPMOTORBIT return sfMOVING else return flakey digoutput amp sfGRIPSTATEMASK void sets robot gripper state setpoint sfGripperSetState int state sfRobotComInt sfCOMGRIPPER state amp sfGRIPSTATEMASK void sfLEFT sfRIGHT sfON sfOFF sfGripperSetLed int which int state switch which case sfLEFT which sfLEFTLEDBIT break continued case sfRIGHT which sfRIGHTLEDBIT break default which 0 switch state case sfOFF sfRobotCom2Bytes sfCOMDIGOUT which 0 break case sfON sfRobotCom2Bytes sfCOMDIGOUT which which break Gripper amp Experimenter s Module 23 8 Appendix B Pioneer Server Information Packet Data Type Header it Exactly OxFA OxFB Byte Count Number of data bytes 2 must be less than 201 OxC9 Xpos unsigned int 15 Is bits Wheel encoder integrated coordinates platform dependent units multiply by Ypos unsigned int 15 ls bits DistConvFactor in the parameter file to convert to mm roll over 3 m Th pos signed int Orientation in platform dependent units multiply by AngleConvFactor for radians L vel signed int Wheel velocities respective Left and Right in platform dependent units multiply by VelConvFactor to convert to mm sec Battery Battery charge in tenths of volt
16. T d 5 MOTORS o F SONAR CFF Sw q 5 SECTION 23 xe m Q gy O 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 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 chip We d prefer that you use a special chip puller tool but if one isn t handy use a thin flat bladed screwdriver and gently pry up each end of the chip until it lifts out of the socket freely L A P Figure 2 2 Location of the EPROM socket EPROM chips are sensitive to static electricity Be careful to handle them by their case and store them on conductive foam Don t touch the pins with your fingers and be particularly careful not to bend any of their 28 delicate connector pins Now carefully remove the new PSOS EPROM that came with the Gripper Experimenter s Module from its protective foam and insert it into the EPROM socket Be sure to line up the Pin 1 notch and insert the pins in their respective socket holes Then Gripper amp Experimenter s Module 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 rev
17. ersing the procedures you took in Step 2 and using the same tools and screws reattach the Pioneer microcontroller to the Console top plate Set the entire assembly aside for the moment in a safe place 3 1 5 Step 5 Remove Nose 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 3 1 6 Step 6 Connect Cables Place the Gripper Experimenter s assembly on top of a table close to and in front of the Pioneer with the Module card and attached flat ribbon cables facing the robot s Nose Push those three cables free connector ends through the opening in the nose and up into the Console Similarly push the Pioneer s power cable through and out the Nose Plug the power cable attached to the Pioneer robot into its new 12 pin socket on the Experimenter s Module just below the accessory s power cable and socket The cable s yellow wires should point towards the center of the Module CAUTION HOT POWER CABLE The Pioneer power cable is connected unswitched directly to the battery Be careful to align the connector with its socket Misalignment may cause damage to the Pioneer microcontroller or to the Experimenter s Module You may find that first unplugging the new power cable connector from its socket on the Module
18. es Every Pioneer customer gets three additional and valuable resources a private account on ActivMedia s Internet server for downloading Pioneer software updates and manuals access to RWI s private robotics newsgroups and E mail access to the Pioneer 1 support team 2 4 1 Pioneer Web Software Archive We have a World Wide Web server connected continuously to the Internet where customers may obtain Pioneer software and support materials Point your favorite Web browser to http css activmedia com 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 amp Account Sheet that accompanied your robot 2 4 2 Pioneer and Saphira Newsgroups RWI also maintains a special E mail based newsgroup for Pioneer owners and Saphira programmers to share ideas software and questions We strongly encourage you to sign up For details send E mail To majordomo rwii com From lt your return E mail address goes here gt Subject help Subject always ignored body of message choose one or more commands help returns instructions lists returns list of newsgroups subscribe lt list name here gt waddayatink unsubscribe lt list name here gt ditto end Overview 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 mi
19. fCOMSAY str n The string is comprised of duration and tone pairs the duration byte is the number of 20 millisecond increments the following tone value half cycle times in 150 microsecond increments should be played through the speaker For example to play two short high beeps using the Saphira equivalent command void sfPlayToneString 010 002 010 000 010 002 6 18 Gripper amp Experimenter s Module 6 Maintenance amp 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 the Pioneer to exercise the Gripper and spread the lubricant 6 2 Gripper Belt Adjustments The Gripper s drive belts will stretch with use and may need to be tightened occasionally We designed them to make that process easy Put the Gripper into its fully up position its position after completing the self test At the bottom of the Gripper assembly you can see an aluminum gear with a vertical belt wrapped around it Notice that it is fastened through a curved slot in the Gripper casing and that it has a flat bladed screwdriver slot Do not remove the screw but loosen it enough so that it will slide in that slot You may need to hold the fastening bolt behind the slot with pliers or a nut driver so you can loosen
20. ght 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 Because this is a support option not a general interest newsgroup like Pioneer users described above we must reserve the option to reply only to questions about bugs or problems with Pioneer 1 and its accessories Gripper amp Experimenter s Module 3 Installation lease read through this chapter carefully before you attempt to attach the Gripper amp 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 the other hand skip this chapter altogether if your Pioneer 1 Mobile Robot came with the Gripper amp Experimenter s Module Assembly already attached Turn OFF the Pioneer robot s Main Power before installing the Gripper amp Experimenter s Module 3 1 1 Step 1 Remove the Console The Gripper amp Experimenter s Module Assembly s various ports and accessories connect to the Pioneer microcontroller s power and expansion I O Also software support is provided through a special Pioneer Server Operating System PSOS which is stored on a 32K EPROM mounted on the microcontroller Accordingly to install the Gripper Experimenter s Module and new PSOS
21. ingle 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 And special circuitry on the Experimenter s board lets you control up to eight separate RC servos 15 Experimenter s Module 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 EB gers Pe ae Pe fo e a 6 Table 4 1 Pioneer I O ports and connections a Gres 6 Grippercamy swieh ____ os Paddle outer break beam NS pese pump switches mooo mooo Q Ne D Ground N2 4 6 8 14 16 G2 4 10 12 14 16 18 20 22 24 26 5 VDC N10 12 G6 8 ODI OD2 D O O o D4 OD5 N N i wlan wlreywoln O 2 Re ji 05 Z nr 16 Gripper amp Experimenter s Module 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 Pioneer has entered self test mode Note that the voltage V reading will vary You may press the Reset button at any time to disable the self test and you may pre
22. les open for instance when setting the Gripper s control I O ports directly see below 4 4 2 State Commands A more intelligent means of controlling the Gripper is through PSOS sfCOMGRIPPER command and state parameters These automatically manage the Gripper so to achieve some pre defined state PSOS also monitors and reports the Gripper s progress towards that state saving you some coding time and effort And the state commands use a timeout feature to protect against unfortunate stalls or hang ups To operate the Gripper this way you simply issue a state command to the robot You don t need to but you may monitor the Gripper s progress towards the state via bits 0 and 2 of the digout part of the server information packet sfROBOT digoutput During transitions the state returned by the robot is set to ssGRIPMOVING After successfully achieving a state the state returned is that state If there is a time out 6 seconds without achieving the state the return state is set to sfGRIPOFF The various states and values are included in the script at the end of this chapter and that you may including in your own C programs There also are several Saphira convenience functions defined for gripper states int sfGripperGetState void Returns the robot gripper state setpoint void sfGripperSetState int state Sets the robot gripper state setpoint 13 14 Table 3 2 Gripper functions BESS IORI IRE RE RR Gripper function
23. ng or from abuse or inappropriate operation such as if the robot is allowed to tumble or fall off a ledge or if it is overloaded with heavy objects The developers marketers and manufacturers of Pioneer 1 shall bear no liabilities for operation and use of the robot or any accompanying software except that covered by the warranty and period 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 And under no circumstances will the developers marketers or manufacturers of Pioneer take responsibility for or support any special or custom modification to Pioneer 1 Pioneer 1 Gripper amp Experimenter s Manual version 1 2 August 1997 28
24. our robot Then plug the camera power and signal cables back into their respective sockets on the Console back plate and screw in the antenna through the hole in the 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 sniveling old beep beep of the Gripper less Pioneer mind you so keep sensitive babies and weaklings clear You ve completed assembly and now are ready to run your Pioneer s brand new gadgets And for your troubles you get two loose screws left over they are the two round headed ones that came out of the bottom of the Nose 10 Gripper amp Experimenter s Module 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 manage the Gripper functions for you In turn these PSOS functions are supported in Saphira version 5 3 the Pioneer Application Interface PAI and Pioneer LOGO Consult the various Pioneer related Operation and Software Manuals for more details ab
25. out PSOS Saphira PAI and P LOGO 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 T O systems sonars and processor Make sure the Pioneer motors are disengaged if you perform the Gripper self test on a table top The Gripper self test happens whenever you turn the Main Power on or press the Reset button The exercise first drives the Gripper Bar and paddles to their fully down and open state and then back up to their fully up and closed state Always place Pioneer 1 on the floor and have everyone step back before engaging the motors You may also test the Gripper s open up and carry state switches See the Experimenter s Module Digin I O test mode section in Chapter 4 for details 4 2 PSOS Server Information Packet PSOS regularly sends Pioneer server information to a connected client over the serial communication line Included in that Server Information Packet are the various states and readings from the Gripper and the Experimenter s Module I O A summary of the PSOS Server Information Packet is in the Appendix B These various readings may be captured and individually read by the client or you may use
26. re The author also grants to SRI permission to distribute this software to schools for non commercial educational use only The author hereby grants to other individuals or organizations permission to use this software for non commercial educational use only This software may not be distributed to others except by SRI under the conditions above Other than these cases no part of this software may be used or distributed without written permission of the author Neither the author nor SRI make any representations about the suitability of this software for any purpose It is provided as is without express or implied warranty Kurt Konolige Senior Computer Scientist SRI International 333 Ravenswood Avenue Menlo Park CA 94025 E mail konolige ai sri com 7 include saphira h li New comm function writes two bytes as argument continued Gripper amp Experimenter s Module void sfRobotCom2Bytes int com int high int low sfRobotComint com high amp Oxff lt lt 8 low amp Oxff RSRRSTENERERA DEER EER ERE ARE RSA RANE REA ERAA FERRARI FARA AREE 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 FERITOIE void sfPlayToneString char str int n
27. s For setting and retrieving gripper states States are sfGRIPUP sfGRIPDOWN sfGRIPMIDDLE sfGRIPOFF 3 and sfGRIPMOVING i 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 ENEAN KENAAN AEREE KEKEREKE ANNEER REI RARAI PRIARRA RARE ERRE REALE states define sfGRIPOFF 0 define sftGRIPUP 1 define sfGRIPMOVING 2 define sfGRIPMIDDLE 4 define sfGRIPDOWN 5 define stCOMGRIPPER 33 gripper control bits DIGOUTPUT define stGRIPSTATEMASK 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 Ois off 1 is on define sfLEFTLEDBIT 0x10 gripper sense bits DIGINPUT define sfGRIPTOPBIT 0x01 top limit switch 0 if hit define sfGRIPMIDBIT 0x02 carry switch 0 if hit define stGRIPBOTBIT 0x04 open limit switch 0 if hit define sfGRIPINIRBIT 0x08 inner break beam 1 is beam break define sfGRIPOUTIRBIT 0x10 outer break beam 1 is beam break define sfGRIPBUMPBIT 0x20 gripper bumpers 0 is bump define sfGRIPMOMBIT 0x40 momentary switch 0 is pressed define stGRIPSPSTBIT 0x80 SPST switch 0 is up Gripper amp Experimen
28. s 2 bytes L and R Motor stall indicators Bumpers wine __ Control signed int Setpoint of the server s angular position servo multiply by AngleConvFactor for radians n byte Number of new sonar readings included in readings information packet readings follow Sonar reading multiply by RangeConvFactor for mm 24 9 Index A A D 18 A D port 15 ActivMedia 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 Description 4 speaker 18 Experimenter s Module 15 components 15 T O ports 15 self test 17 FTP archives 5 Gripper amp Experimenter s Module General I O 16 GRIPMOVING 13 GRIPOFF 13 Gripper Bar 4 belt adjustments 19 carry switch 4 Description 2 direct control 13 T O 12 installation See installation lubrication 19 maintenance 19 motor controls 12 ODO 12 OD1 12 operating range 3 operation 11 paddles 3 self test 11 state commands 13 state switches 12 states 2 switches 4 transition cycle 4 Gripper Bar 4 Gripper I O 12 Gripper maintenance 19 Gripper motor controls 12 Gripper switches 12 GripperGetState 13 I O General 16 Nose 16 ports and connections 16 programming 18 T O ports 15 installation 7 cables 9
29. ss the Function button to skip any of the self tests Skip to the digital input test by pressing the Function button 3 more times The LCD should now read Digin E6 BOOT to skip vv vV The E6 may vary it is the hexadecimal representation of the various digital input ports described in Table 4 1 and in the Gripper Chapter 4 Decode that indicator according to the bit rule in Table 4 2 For example if you press the user push button switch the E6 value would change to A6 See why Table 4 2 Bits and meanings of Digin self test value paddles outer b b inner b b paddles gripper gripper slide sw bump clear clear not below notat up free open above top wide 4 5cm user paddles outer b b inner b b paddles gripper gripper slide sw bump obstruc obstruc wide up 4 at top down pressed ted ted open 5cm pressed gripper at top 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 17 Experimenter s Module 5 2 Programming the Digital I O Ports Use the sf COMDIGOUT PSOS command and the related Saphira convenience command to manage the various digital output ports They are described in detail in the previous chapter
30. ter s Module 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 with new PSOS say command User controlled LEDs and switches 8 RC servo ports RC0 7 8 Analog to Digital Input Ports ANO 7 Range finding IR connector KN NNR Figure 4 1 Experimenter s Module o x 27 Ini per SLIDE SW RCO RC7 LED Co e PUSHBUTTON NOSE 1 0 GENERAL I O EE EXPERIMENTER S POWER PLATFORM 5 ype gg 8828288 ghe IR A 6 6 i 6 6 GND o 5 1 I O Ports By cables connected to the Pioneer microcontroller the Experimenter s Module brings both the Nose and General I O expansion ports onto a single open platform All of ports now appear as solderable connections alongside a components pad complete with power connections Figure 4 1 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 s
31. the various Saphira PAI or P LOGO functions to manage the packet and read the values for you 11 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 ODO controls the direction of rotation and ODI enables disables the motor The act of gripping and raising objects is mechanical and dependent on the Gripper s position you cannot independently operate the gripper paddles Rather you drive the motor in one direction or the other The paddles automatically open when the Gripper is being lowered and reaches the bottom of the assembly In reverse the paddles automatically close upon themselves or an object and then rise Switches on top up inside at one end of the Bar open and behind the Bar carry indicate the various Gripper G positions Table 3 1 In addition bump switches on the tips of each paddle indicate collisions and break beams b b inside the paddles indicate the position of an object within the grasp We identify the various I O ports and connections by name in Table 3 1 Consult the Tables in Chapter 5 for their pin locations on the General and Nose I O connectors Table 3 1 Gripper motor controls and state switches VO port DS O paddle tip touching object 4 4 Gripper Programming You can directly control the Gripper motor through the PSOS sfCOMDIGOUT command and byte parameters PSOS
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