Robot Firmware
From MobileRobots Research and Academic Customer Support
Different models and generations of robots use different microcontrollers to manage low-lever robot operations (motor control, the sonar sensors, etc.). These microcontcrollers run different firmware implementations. A control or client program uses an RS-232 serial interface to send commands to the firmware and receive data back, using the ARIA library (or other compatible software). Each firmware implementation is generally compatible with all others, with the exception of new features added in newer versions.
The two main types of microcontrollers used in recent Pioneer, AmigoBot, and PowerBots are the Renesas SH and Hitachi H8-S. These are usually indicated by the tags "SH" and "H8". The Renesas SH microcontroller replaced the Hitachi H8s microcontroller used by older robots, which replaced the Siemens C166 in even older robots. The different microcontrollers require different firmware implementations.
- SH microcontrollers on newer Pioneer 3s, PeopleBots, and PowerBots use ARCOS.
- SH AmigoBots use AmigOSH.
- PatrolBots use SH microcontrollers, but since they have a different overall electronics design, they use µARCS ("micro ARCS")
- Seekur also uses its own unique firmware.
- H8 microcontrollers on Pioneer 2 DX-8 and AT-8, some older Pioneer 3s and other robots, use AROS
- H8 AmigoBots use AmigOS.
- C166 microcontrollers on Pioneer 2 and other robots use P2OS.
- The original Pioneer 1 uses PSOS.
Firmware updates and utilities can be found on the Software download page and on the pages about each firmware: firmware images, default parameters, as well as the update/configuration tools (ARCOScf, AROScf, P2OScf, etc.) are provided.
A robot with the SH microcontroller running ARCOS has a different "subtype" than an older robot of the same model. For example, an older P3DX was a "p3dx", while the new SH model running ARCOS will report a subtype of "p3dx-sh". ARIA uses the different parameter files accordingly. When it connects, ARIA will print this subtype.
Each successive robot type and firmware implementation are backwards-compatible with the previous version, and in general ARIA or other software implementing the robot protocol correctly can be used on any robot type (if the robot contains devices and features required by the particular software program, of course).
If you are unsure what robot type you have and what firmware to use, Contact support with the robot serial number.
