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Bots /The Ultimate Palm Robot/ Mukhar & Johnson / 222880-6 / Chapter 9
Chapter 9 Sensors and Enhancements 247
When we attach any other output device to the SV203, we will follow the
same general procedure we used for the servos. The GND of the device is
attached to the GND of the SV203 (the pin closest to the edge of the board). The
power line of the device is attached to the middle pin. The signal line of the
device is attached to the pin to the inside of the board.
Adding Sensors to the BrainStem
With the BrainStem controller, we have a little more flexibility. The BrainStem
SV203 has only four servo ports, but it has an additional five digital ports that
can be used for output. That means that even if we keep the three servos, we
can attach up to six other output devices to the BrainStem.
You should already know the location of the output ports of the BrainStem
(see Figure 9-2). These are the four sets of pins on the right side of the upper edge
of the BrainStem. We used three of these sets for the servos. As with the SV203,
onepinisusedfortheGND,onesuppliespowertothedevice,andthethirdisthe
signalline.Withtheservos,thesignallinepassescommandstotheservotocause
the servo to rotate.
P:\010Comp\Bots\880-6\ch09.vp
Monday, May 12, 2003 4:33:45 PM