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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.














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