Pioneer 3 Operations Manual Errata, version 5

From MobileRobots Research and Academic Customer Support

This page contains clarifications and corrections to the 5th edition (Version 5) of the Pioneer 3 Operations Manual for Pioneer 3 DX and AT robots (with SH microcontrollers and ARCOS firmware).

Contents 1 Corrected: 1.1 Starting Up ARIA Demo (5th ed. p. 22) - Corrected in 6th ed. 1.2 Running ARIA demo on Windows (5th ed. p. 23) - Corrected in 6th ed. 1.3 ARCOS VEL2 command (5th ed. p. 32) 1.4 ARCOS CONFIGpac (4th ed. p. 38) - Corrected in 6th ed. 1.5 ARCOS Buzzer Sounds (5th ed. p. 40) 1.6 Gripper (5th ed. p. 44) - Corrected in 6th ed.

Corrected:

Starting Up ARIA Demo (5th ed. p. 22) - Corrected in 6th ed.

Use ssh rather than telnet to remotely connect to an onboard computer that is running Linux. See Remote Operation of Onboard Computer for more tips.

Running ARIA demo on Windows (5th ed. p. 23) - Corrected in 6th ed.

To run ARIA demo on Windows, choose Start->Run. Enter "cmd" and press enter. This will open a new Windows command shell.

Enter the following commands to run demo with the -remoteHost option to connect to a robot over an Wireless ethernet-serial bridge device with IP address 10.0.126.11:

cd "C:\Program Files\MobileRobots\ARIA\bin"
.\demo.exe -remoteHost 10.0.126.11

Replace 10.0.126.11 with the correct IP address for your wireless ethernet-serial bridge device if different. (E.g. some older devices use 192.168.1.32 instead by default.)

You can add additional options. Run .\demo.exe -help for a summary. Some options depend on hardware options enabled. See ARIA documentation for more information on command line options.

ARCOS VEL2 command (5th ed. p. 32)

Note that the VEL2 command should contain a NEGINT (0x1B) or POSINT (0x3B) argument type field int he packet header, and this applies to the argument as a 16-bit (2-byte) signed integer, not to the individual left and right byte portions. In other words, combine the left and right velocity bytes into a 16-bit integer, and if as a signed integer, this value is negative, use the absolute value and NEGINT (0x1B), otherwise use POSINT (0x3B).

ARCOS CONFIGpac (4th ed. p. 38) - Corrected in 6th ed.

The packet type is CONFIGpac, 0x20, (not "ENCODERpac").

ARCOS Buzzer Sounds (5th ed. p. 40)

The sound frequencies when the given tone value is above 127 is: freq (hz) = toneval - 127 * 32hz

Gripper (5th ed. p. 44) - Corrected in 6th ed.

Status values may not be correct for all implementations of the robot firmware. See the gripper manual for correct information.