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Chapter 27
Pioneer 3-DX

This UObject has been created to drive the Pioneer 3-DX robot. It uses the Aria/Arnl manufacturer library.

 27.1 Getting started
 27.2 How to use Pioneer 3-DX robot
  27.2.1 P3dx
  27.2.2 P3dx.body
  27.2.3 P3dx.body.odometry
  27.2.4 P3dx.body.sonar
  27.2.5 P3dx.body.laser
  27.2.6 P3dx.body.camera
  27.2.7 P3dx.body.x
  27.2.8 P3dx.body.yaw
  27.2.9 P3dx.planner
  27.2.10 P3dx.body.battery
 27.3 Mobility modes
 27.4 About units

27.1 Getting started

Prerequisites:

Installation:

Running:

27.2 How to use Pioneer 3-DX robot

The following objects are defined to support the Pioneer 3-DX Robot. Please note that when loaded, ‘p3dx.u’ also defines the robot variable to enforce the conformance with the Gostai Standard Robotics API (Section 23).

Below, we denote read-only slots with ‘r’, and read-write slots with ‘rw’.

27.2.1 P3dx

27.2.2 P3dx.body

27.2.3 P3dx.body.odometry

27.2.4 P3dx.body.sonar

27.2.5 P3dx.body.laser

27.2.6 P3dx.body.camera

27.2.7 P3dx.body.x

27.2.8 P3dx.body.yaw

27.2.9 P3dx.planner

27.2.10 P3dx.body.battery

27.3 Mobility modes

Three modes are available in order to control the Pioneer 3-DX mobility:

27.4 About units

Every physical quantity is in SI units (m, s, rad, ...).