Table of Contents
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CHAPTER 5 JOYDRIVE AND SELF-TESTS ........................................................................................25
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CHAPTER 6 PIONEER 2 OPERATING SYSTEM................................................................................29
Packet Data Types.................................................................................................................................30
Packet Checksum...................................................................................................................................30
Packet Errors ........................................................................................................................................30
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Client Command Argument Types.........................................................................................................34
Saphira Client Command Support.........................................................................................................35
P2OS ................................................................................................................................35
Establishing a Client-Server Connection-SYNC .................................................................................35
Autoconfiguration..................................................................................................................................35
Opening the Servers-OPEN ................................................................................................................35
Keeping the Beat-PULSE ....................................................................................................................36
Closing the Connection-CLOSE..........................................................................................................36
Pioneer in Motion..................................................................................................................................37
PID Controls .........................................................................................................................................37
Position Integration...............................................................................................................................38
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BUMP_STALL .........................................................................................................................................39
E_STALL ...........................................................................................................................39
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Packet Processing .................................................................................................................................40
CONFIGpac and CONFIG Command ..................................................................................................40
SERAUXpac and GETAUX ...................................................................................................................41
ENCODERpac and ENCODER Command ...........................................................................................42
GRIPPERpac and GRIPREQUEST.......................................................................................................42
PLAYLISTpac and PLAYLIST Command..............................................................................................42
TCM2pac and TCM2 Command ...........................................................................................................43
(I/O) ................................................................................................................................43
DIGIN, TIMER, and ADSEL .................................................................................................................43
DIGOUT and PSUPOS .........................................................................................................................44
IOpac and IOREQUEST .......................................................................................................................44
Pioneer 2 Arm-related SIPs and Commands.........................................................................................45
CHAPTER 7 UPDATING & RECONFIGURING P2OS........................................................................46
P2OS........................................................................................................................................46
Step 1. Serial Connection from Computer to Robot ..............................................................................46
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ActivMedia Robotics
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