Activ
Media Robotics
Updating & Reconfiguring AROS
Chapter 7
The AROS software and a set of operating parameters for your Performance PeopleBot
get stored in the H8S microcontroller's FLASH ROM. With special upload and
configuration software tools, you change and update the FLASH memory image. No
hardware modifications are required.
W
HERE TO
G
ET
AROS S
OFTWARE
Your robot comes preinstalled with the latest version of AROS. And the various AROS
configuration and update tools come with the robot on CD-ROM. Thereafter, stay tuned
to the
pioneer-users
newsgroup or periodically visit our support website to obtain the
latest AROS software and related documentation:
http://robots.activmedia.com
AROS tools come in two flavors: One (
dl_AROSV_v
) simply updates the AROS servers in
FLASH. The other utility,
AROScf
, is a multi-functional application for both uploading new
AROS versions as well as modifying your robot’s onboard FLASH-based parameters.
AROS M
AINTENANCE
M
ODE
To connect with and update your robot’s AROS servers and its FLASH-based operating
parameters, you need to first connect a serial port on the PC from which you will run the
AROS tool(s) to the HOST port of your robot’s microcontroller:
If you are running from the onboard PC, the computer-to-
HOST
connection
already is made.
If you have an onboard PC, but prefer to use an external computer for
maintenance, simply power down the onboard computer.
If you use radio modems (not Ethernet), switch
RADIO
power OFF.
When connecting from an external PC, directly tether (no radios) its serial port to
the 9-pin DSUB serial connector on the User Control Panel.
Now start up your robot and put its microcontroller into the special Maintenance Mode:
1. Press and hold the white
MOTORS
button on the User Control Panel
2. Press and release the adjacent red
RESET
button
3. Release
the
MOTORS
button.
The
STATUS
LED on the User Control Panel should flash twice the rate than when in server
(“wait”) mode and the
BATTERY
LED should shine bright red.
S
IMPLE
AROS U
PDATES
The simple AROS update application is just that: a standalone program that, when run,
updates the AROS servers to the indicated version
V_v
(1_0, for example) in your robot’s
microcontroller. Although it may
add
parameters to your current FLASH values, the
dl_AROSV_v
application
never
changes your current parameters, but may add new
ones.
To use this convenient utility, simply download the “dl_”-prefixed executable for your PC’s
operating system (“.
lin
” filename suffix for Linux or “.
exe
” for Windows). Connect the
PC to your robot’s
HOST
serial port and put its microcontroller into Maintenance Mode
(see section above). Then run the
dl_…
program.
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