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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 (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. ii 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 Module Description 4 1.4 Additional Resources 5 1.4.1 Pioneer Web Software Archive 5 1.4.2 Pioneer and Saphira Newsgroups 5 1.4.3 Support 6 2. INSTALLATION 7 2.1.1 Step 1: Remove the Console 7 2.1.2 Step 2: Remove Microcontroller from Console 7 2.1.3 Step 3: Replace the PSOS EPROM 8 2.1.4 Step 4 Reattach Microcontroller to Console 9 2.1.5 Step 5 Remove Nose 9 2.1.6 Step 6 Connect Cables 9 2.1.7 Step 7 Attach Gripper/Experimenter’s Module to Pioneer 9 2.1.8 Step 8 Re-Attach the Console Cables 10 2.1.9 Step 9 Re-Attach the Console 10 2.1.10 Step 10 Test the Assembly 10 3. GRIPPER OPERATION AND PROGRAMMING 11 3.1 Gripper Self Test 11 3.2 PSOS Server Information Packet 11 3.3 Gripper I/O 12 3.4 Gripper Programming 12 3.4.1 Direct Control via Digital Ports 13 3.4.2 State Commands 13 iii 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 Program Demonstrates Gripper and Speaker Functions 7. APPENDIX B 24 Pioneer Server Information Packet 8. INDEX 25 WARRANTY & LIABILITIES 28 Gripper & Experimenter’s Module 1. Introduction Congratulations 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 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 & Account Sheet . Personal account for the Internet server . Pioneer- and Saphira-users@rwii.com support newsgroups 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 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 & Experimenter’s Module Assembly . 32K EPROM containing latest PSOS . Gripper & 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 Overview 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 ActivMedia, Inc. The basic Pioneer 1 Mobile platform contains all of the components for sensing and navigation in a real-world environment, including...