On Sun, 7 Mar 2004, Cameron Stone wrote:
> On Sun, 2004-03-07 at 08:51, sage * wrote:
> > Unfortunately, when I took the Pioneer apart to switch the camera's serial
> > cable I did not find a suitable port for it to be connected too on the on
> > board computer's motherboard. So now I assume I either need an adapter or I
> > need to do a little engineering to make the serial cable for the camera fit
> > into a port on the motherboard.
> Yeah, the serial port plug on the motherboard is IDC, I believe (similar
> to the IDE plug on your hard drive). On our machine, activmedia have
> connected one of the serial ports to a D9 socket on the outside of the
> machine (along with other sockets for keyboard, screen, network etc). I
> believe it was accessible on /dev/ttyS1. We made up a VISCA-D9 cable for
> the connection from this port to the camera, and everything then worked
Cameron's got it right. The onboard computer in the robot has 4 serial
ports, but ActivMedia wires up just the first 2: 1 (/dev/ttyS0) goes
straight to the P2OS microcontroller board and 1 (/dev/ttyS1) is connected
to a DB9 port on the side panel of the robot.
What I usually do is wire up the other two ports (/dev/ttyS2 and
/dev/ttyS3) to inline DB9 connectors and leave them protruding from the
top of the robot. Then you've got 3 free serial ports, to which you
can connect a variety of devices (such as a SICK laser or Sony camera).
Now you just need a VISCA->DB9 cable that allows you to connect the
Sony unit to any standard serial port (including those on the robot).
I would recommend buying such a cable if you can. Soldering wires onto
the VISCA end can be really tedious.
Brian P. Gerkey gerkey@...
Stanford Robotics Lab http://robotics.stanford.edu/~gerkey