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Pioneer Module Mobile manuel d'utilisation

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Un bon manuel d’utilisation

Les règles imposent au revendeur l'obligation de fournir à l'acheteur, avec des marchandises, le manuel d’utilisation Pioneer Module Mobile. Le manque du manuel d’utilisation ou les informations incorrectes fournies au consommateur sont à la base d'une plainte pour non-conformité du dispositif avec le contrat. Conformément à la loi, l’inclusion du manuel d’utilisation sous une forme autre que le papier est autorisée, ce qui est souvent utilisé récemment, en incluant la forme graphique ou électronique du manuel Pioneer Module Mobile ou les vidéos d'instruction pour les utilisateurs. La condition est son caractère lisible et compréhensible.

Qu'est ce que le manuel d’utilisation?

Le mot vient du latin "Instructio", à savoir organiser. Ainsi, le manuel d’utilisation Pioneer Module Mobile décrit les étapes de la procédure. Le but du manuel d’utilisation est d’instruire, de faciliter le démarrage, l'utilisation de l'équipement ou l'exécution des actions spécifiques. Le manuel d’utilisation est une collection d'informations sur l'objet/service, une indice.

Malheureusement, peu d'utilisateurs prennent le temps de lire le manuel d’utilisation, et un bon manuel permet non seulement d’apprendre à connaître un certain nombre de fonctionnalités supplémentaires du dispositif acheté, mais aussi éviter la majorité des défaillances.

Donc, ce qui devrait contenir le manuel parfait?

Tout d'abord, le manuel d’utilisation Pioneer Module Mobile devrait contenir:
- informations sur les caractéristiques techniques du dispositif Pioneer Module Mobile
- nom du fabricant et année de fabrication Pioneer Module Mobile
- instructions d'utilisation, de réglage et d’entretien de l'équipement Pioneer Module Mobile
- signes de sécurité et attestations confirmant la conformité avec les normes pertinentes

Pourquoi nous ne lisons pas les manuels d’utilisation?

Habituellement, cela est dû au manque de temps et de certitude quant à la fonctionnalité spécifique de l'équipement acheté. Malheureusement, la connexion et le démarrage Pioneer Module Mobile ne suffisent pas. Le manuel d’utilisation contient un certain nombre de lignes directrices concernant les fonctionnalités spécifiques, la sécurité, les méthodes d'entretien (même les moyens qui doivent être utilisés), les défauts possibles Pioneer Module Mobile et les moyens de résoudre des problèmes communs lors de l'utilisation. Enfin, le manuel contient les coordonnées du service Pioneer en l'absence de l'efficacité des solutions proposées. Actuellement, les manuels d’utilisation sous la forme d'animations intéressantes et de vidéos pédagogiques qui sont meilleurs que la brochure, sont très populaires. Ce type de manuel permet à l'utilisateur de voir toute la vidéo d'instruction sans sauter les spécifications et les descriptions techniques compliquées Pioneer Module Mobile, comme c’est le cas pour la version papier.

Pourquoi lire le manuel d’utilisation?

Tout d'abord, il contient la réponse sur la structure, les possibilités du dispositif Pioneer Module Mobile, l'utilisation de divers accessoires et une gamme d'informations pour profiter pleinement de toutes les fonctionnalités et commodités.

Après un achat réussi de l’équipement/dispositif, prenez un moment pour vous familiariser avec toutes les parties du manuel d'utilisation Pioneer Module Mobile. À l'heure actuelle, ils sont soigneusement préparés et traduits pour qu'ils soient non seulement compréhensibles pour les utilisateurs, mais pour qu’ils remplissent leur fonction de base de l'information et d’aide.

Table des matières du manuel d’utilisation

  • Page 1

    Gripper & Experimenter’ s Module Manual version 1.2[...]

  • Page 2

    Gripper & Experimenter’s Module ii Copyright 1997, Activ Media, 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 Activ Media, Inc. The Saphira libraries and Pioneer software on disk and on the Pioneer server EPROM [...]

  • Page 3

    iii 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 Modu[...]

  • Page 4

    iv 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 Prog[...]

  • Page 5

    Gripper & Experimenter’s Module 1 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 & Experimenter’s Module Manual provides the general and technical details you will need to install and operate yo[...]

  • Page 6

    Overview 2 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 Activ Media, Inc. The basic Pioneer 1 Mobile platform contains all of the components for sensing and navigation in a real-world environment, in[...]

  • Page 7

    Gripper & Experimenter’s Module 3 Figure 1-2 Pioneer Gripper side view. 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) off the floor. The paddles extend out fr[...]

  • Page 8

    Overview 4 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 s[...]

  • Page 9

    Gripper & Experimenter’s Module 5 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 Resources Every Pioneer 1 customer gets three additional and valuable resources: a pr[...]

  • Page 10

    Overview 6 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 might 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. [...]

  • Page 11

    Gripper & Experimenter’s Module 7 3. Installation lease read through this chapter carefully before you attempt to attach the Gripper & 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 t[...]

  • Page 12

    Installation 8 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 1 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 chi[...]

  • Page 13

    Gripper & Experimenter’s Module 9 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 reversing the procedures you took in Step 2 and using the same tools and screws, reattach the Pioneer microcontroller to the Console top plate. Set t[...]

  • Page 14

    Installation 10 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 so[...]

  • Page 15

    Gripper & Experimenter’s Module 11 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 m[...]

  • Page 16

    Gripper Operation and Programming 12 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 OD0 controls the direction of rotation and OD1 enables/disables the motor. The act of gripping and raising objects is mechanical and dependent on the Gripper[...]

  • Page 17

    Gripper & Experimenter’s Module 13 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 yo[...]

  • Page 18

    Gripper Operation and Programming 14 Table 3-2. Gripper functions /************************************************************* * Gripper functions --- For setting and retrieving gripper states * States are sfGRIPUP, sfGRIPDOWN, sfGRIPMIDDLE, sfGRIPOFF, * and sfGRIPMOVING * sfGRIPMOVING occurs only during transitions between states * sfGRIPOFF can[...]

  • Page 19

    Gripper & Experimenter’s Module 15 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 w[...]

  • Page 20

    Experimenter’s Module 16 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: 1 3 5 7 9 11 13 15 2468 1 0 1 2 1 4 1 6 Table 4-1. Pioneer I/O ports and connection[...]

  • Page 21

    Gripper & Experimenter’s Module 17 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 P[...]

  • Page 22

    Experimenter’s Module 18 5.2 Programming the Digital I/O Ports Use the sfCOMDIGOUT PSOS command and the related Saphira convenience command to manage the various digital output ports. They are described in detail in the previous chapter. (PAI and P-LOGO support similar commands, too.) For example, to turn the right LED on, use: sfRobotCom2Bytes(s[...]

  • Page 23

    Gripper & Experimenter’s Module 19 6. Maintenance & 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 th[...]

  • Page 24

    20 7. Appendix A Example C Program Demonstrates Gripper and Speaker Functions /* ################################################################ * gripper.c --- Saphira-based functions for controlling the gripper and speaker *################################################################# ** Copyright 1997 by Kurt Konolige ** ** The author hereb[...]

  • Page 25

    Gripper & Experimenter’s Module 21 void sfRobotCom2Bytes(int com, int high, int low) { sfRobotComInt(com, ((high & 0xff)<<8) + (low & 0xff)); } /************************************************************* * Speaker functions -- play a tone string * * Format of string is L1 T1 L2 T2 .... Ln Tn * where Li is length of tone i in [...]

  • Page 26

    22 /* gripper control bits (DIGOUTPUT) */ #define sfGRIPSTATEMASK 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 /* 0 is off, 1 is on */ #define sfLEFTLEDBIT 0x10 /* grip[...]

  • Page 27

    Gripper & Experimenter’s Module 23 case sfRIGHT: which = sfRIGHTLEDBIT; break; default: which = 0; } switch(state) { case sfOFF: sfRobotCom2Bytes(sfCOMDIGOUT, which, 0); break; case sfON: sfRobotCom2Bytes(sfCOMDIGOUT, which, which); break; } }[...]

  • Page 28

    24 8. Appendix B Pioneer Server Information Packet Name Data Type Description Header int Exactly 0xFA, 0xFB Byte Count byte Number of data bytes + 2; must be less than 201 (0xC9) Status byte = 0x3S; where S = Motors status sfSTATUSNOPOWER Motors power off sfSTATUSSTOPPED Motors stopped sfSTATUSMOVING Robot moving Xpos unsigned int (15 ls-bits) Whee[...]

  • Page 29

    Gripper & Experimenter’s Module 25 9. Index A A/D, 18 A/D port, 15 Activ Media, 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 Descr[...]

  • Page 30

    26 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 OD0, 12 OD1, 12 P paddles break beams, 4 positions, 4 paddles positions, 4 PAI, 11 Pioneer 1, 2 Pioneer Application Interface, 11 Pione[...]

  • Page 31

    Gripper & Experimenter’s Module 27[...]

  • Page 32

    28 Warranty & 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 shipping or from abuse or inappropriate operation, such as if the robot is allowed to tumble or fall off [...]