TCM2 Module
1
The P2 TCM2
Congratulations on your purchase and welcome to the rapidly growing community of researchers, developers,
and enthusiasts of the Pioneer Mobile Robot.
This
Pioneer 2 TCM2 Manual
provides the general and technical details you will need to install and operate
your new TCM2 Module (Compass, Inclinometer, Magnetometer, and Thermometer) with your the Pioneer 2
Mobile Robot.
We also encourage you to use these companion resources that come with your Pioneer:
ü
Pioneer 2 Operation Manual
ü
Saphira, Ayllu and PAI Software Manuals
ü
Pioneer Registration & Account Sheet
ü
Personal Account for the
http://robots.activmedia.com
Internet server
ü
Pioneer- and Saphira-users@activmedia.com support newsgroups
Pioneer 2 TCM2 Package
Our experienced robotics manufacturing staff wired and configured your TCM2 Module for use with any
Pioneer 2 Mobile Robot. And we put the Module through a “burn-in” period while carefully testing it for
performance before we shipped the hardware and software to you. Our care extends beyond: Besides the companion
resources listed above that bring the whole community of Pioneer to you, we warranty the TCM2 Module against
mechanical and electronic parts and labor defects for 90 days. All of these precautions ensure that you have many
years to enjoy your new accessories for the Pioneer 2 Mobile Robot.
Even though we’ve made every effort to make your package complete, please check the components once again
after you unpack it from the shipping crate.
Package Components
ü
Pioneer 2 TCM2 Module complete with mounting hardware and cabling
ü
TCM2 Power and Serial Adapter Cable
ü
Auxiliary serial breakout cable
ü
This P2 TCM2 Manual
ü
TCM2 User's Manual
ü
P2OS update and TCM2 software disk (Win32 and Linux)
User Supplied Components
ü
Pioneer 2 Mobile Robot
ü
9 Volt battery (optional)
Basic Pioneer 2 Platform
Pioneers are small, intelligent mobile robots originally developed by Kurt Konolige of SRI International and
Videre Designs and now available exclusively through Activ
Media
ROBOTICS
. The basic Pioneer 2 Mobile Robot
platform contains all of the components for sensing and navigation in a real-world environment, including battery
power, drive motors and wheels, position encoders, and range-finding ultrasonic sonar transducers—all managed
via an onboard Siemens C166-based microcontroller board (Figure 1-1).The Pioneer 2 DX and CE models are two-
wheel, differential drive mobile robots intended for indoor, albeit less than ideal surface operation (wheel-chair
accessible areas, for example). The Pioneer 2-AT is a four-wheel drive, differential skid-steering version of the
Pioneer 2 intended for outdoor, all-terrain (AT) operation. Otherwise, the platforms are nearly identical and share
accessories, including the P2 Gripper.
All Pioneers come with onboard robotics server software (Pioneer 2 Operating System) and an open API for
client software control of the robot’s systems and accessories. Users access the onboard servers from their client
workstation connected wirelessly, or via a piggyback laptop or integrated onboard PC through an RS232 serial
communication port.
Summary of Contents for Pioneer 2 TCM2
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