Package dlife.robot.pioneer

Classes and interfaces that support interaction with the Pioneer robot.

See:
Description

Class Summary

CannonVCC50i	A class for controlling a Cannon VC-C50i camera.
Pioneer	Class for interacting with the Pioneer robot.
PioneerBattery	A class for reading the current voltage of the Pioneer's battery.
PioneerBumpers	A class for reading the state of the Pioneer's bumpers.
PioneerCamera	A Camera for processing video streamed from the Pioneer robot via the dLife Vision server.
PioneerDeadReckoning	A class for using the Pioneer's dead reckoning device.
PioneerDifferentialDrive	A class for controlling the motion of a Pioneer robot.
PioneerGripper	A class for interacting with the Pioneer's Gripper.
PioneerGripperDisplay	The GUI display for the PioneerGripper.
PioneerOdometry	A class for reading the Pioneer's odometry device.
PioneerPlayer	A PioneerPlayer creates a connection to a Player server with a Pioneer model simulation running.
PioneerPTZ	Abstract base class for all PTZ effectors for the Pioneer.
PioneerSonar	Class for reading the Pioneer's Sonar range device.

Package dlife.robot.pioneer Description

Classes and interfaces that support interaction with the Pioneer robot.

Overview

The Pioneer 3 is produced by Mobile Robots for use in academic research.

Pioneer Setup

1. Complete the Basic dLife Installation.
2. Install the PioneerServer.

Pioneer Quick Start

1. Complete the Pioneer Setup (once only).
2. Start the PioneerServer.
3. Launch the Control Center by double clicking the ControlCenter (Mac/Linux) or ControlCenter.bat (Win) programs in the dLifeDist/UserScripts folder.
4. Select dlife.robot.pioneer.Pioneer in the "Robot" drop down.
5. Click "Controller".
6. Navigate to and choose dLifeDist/examples/dlife/robot/pioneer/PioneerExample.class in the File Chooser dialog that appears.
7. Click "Start Up".
8. Enter the connection information for your Pioneer.
9. Place the Pioneer is on a flat surface with an obstacle at least 1 meter from its left side.
10. Engage the Pioneer's motors.
11. Click "Run". The Pioneer will turn 90 degrees CCW and then move forward and stop approximately 30 cm from the obstacle.

Additional Resources

• The table of classes at the top of this page identifies all of the sensors and effectors that are supported.
• The examples.dlife.robot.pioneer package contains working examples that can be used with a Pioneer.
• The dlife.robot.pioneer.server package contains additional information about the PioneerServer.
• See the dlife.robot.gui.controlcenter documentation for information about using the ControlCenter.
• See the Controller class for information on creating controllers.
• See the dlife.vision.cameras package for information about using the dLife vision features.

Using the Pioneer's Camera

To use the Pioneer's Camera the VisionServer must be running on the Pioneer's on-board computer. Use the following steps to setup and use the Pioneer's camera.

1. Install the dLife VisionServer on the Pioneer's on-board computer.
2. Start the VisionServer on the Pioneer's on-board computer.
3. Try the steps outlined in the Quick Start with Video For Linux (V4L) using the Pioneer's Camera.
4. Try running the PioneerCameraDrone example.