VB Robot Truck Example

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Overview
Block Diagram
Source Code
Additional Information

Overview

This example is an application for controlling a small robot truck. The truck carries a small host computer that runs a Visual Basic program. This program communicates with two BrainStem GP 1.0 modules that act as slave controllers. Sending command packets to a BrainStem controller are covered in detail in other examples.

Contents

Block Diagram

The system has the following topology:

Image of all the components used in this example as an interconnected diagram.

Block diagram and the relationship between components.

1 Notebook computer
2 Networked BrainStem cards
2 GP2D02 IR Rangers (40 - 80 cm)
1 GP2D120 IR Ranger (4 - 40 cm)
2 GP2D12 IR Rangers (40 - 80 cm)
3 Servos
1 Electronic Speed Controller
1 SRF08
1 CMPS03
1 Camera

BrainStem #1 with Address 2 controls five IO devices:

IR GP2D02 left side range finder (GP2D02 port)
IR GP2D12 rear range finder (A2D 0)
Devantech CMPS03 Compass (I2C bus)
Electronic Speed Controller for drive motor (Servo 0)
Steering servo (Servo 3)

BrainStem #2 with Address 4 controls seven IO devices:

IR GP2D02 right side range finder (GP2D02 port)
IR GP2D12 front range finder (A2D 0)
IR GP2D120 front range finder (A2D 1)
Devantech SRF08 Ultrasonic Ranger (I2C bus)
Devantech SRF08 pan (Servo 0)
Camera pan (Servo 1)
Camera tilt (Servo 2)

The VB Form defines a GUI for looking at sensor data. A button command is provided in order to take a reading from each input device. The code includes routines for formatting values (decimal, binary, hex) along with IO routines for managing all the devices. Most IO routines require the transfer of one packet to a BrainStem and reception of a reply packet. Some routines are generalized and have a parameter for selecting a specific BrainStem module. The routines that take readings from the SRF08 and CMPS03 require some extra command packets since these devices are connected to the I2C bus and need

extra initialization. There are routines for reading the first echo from the SRF08, taking a light intensity reading from the SRF08, and getting the current heading from the CMPS03.

Contents

Source Code

The following source code was used for this example:

VERSION 5.00 Object = "{648A5603-2C6E-101B-82B6-000000000014}#1.1#0"; "MSCOMM32.OCX" Begin VB.Form Form1 Caption = "Form1" ClientHeight = 4665 ClientLeft = 60 ClientTop = 345 ClientWidth = 8400 LinkTopic = "Form1" ScaleHeight = 4665 ScaleWidth = 8400 StartUpPosition = 3 'Windows Default Begin VB.TextBox CMPS03Buff Height = 285 Left = 5280 TabIndex = 17 Text = "Text1" Top = 1920 Width = 1455 End Begin VB.TextBox SRF08Buff Height = 285 Left = 5280 TabIndex = 16 Text = "Text1" Top = 840 Width = 1455 End Begin VB.TextBox GP2D12SXBuff Height = 285 Left = 3600 TabIndex = 15 Text = "Text1" Top = 2760 Width = 1095 End Begin VB.TextBox GP2D12DXBuff Height = 285 Left = 3600 TabIndex = 14 Text = "Text1" Top = 120 Width = 1095 End Begin VB.TextBox GP2D120Buff Height = 285 Left = 1200 TabIndex = 13 Text = "Text1" Top = 1920 Width = 1095 End Begin VB.TextBox GP2D02Buff Height = 285 Left = 1200 TabIndex = 12 Text = "Text1" Top = 840 Width = 1095 End Begin VB.Timer Scan Left = 7680 Top = 720 End Begin VB.CommandButton cmdCMPS03 Caption = "CMPS03" Height = 255 Left = 3960 TabIndex = 11 Top = 2280 Width = 1215 End Begin VB.TextBox CMPS03 Height = 285 Left = 3960 TabIndex = 10 Text = "CMPS03" Top = 1920 Width = 1215 End Begin VB.CommandButton cmdSRF08 Caption = "SRF08" Height = 255 Left = 3960 TabIndex = 9 Top = 1200 Width = 1215 End Begin VB.TextBox SRF08 Height = 285 Left = 3960 TabIndex = 8 Text = "SRF08" Top = 840 Width = 1215 End Begin VB.CommandButton cmdGP2D12_SX Caption = "GP2D12SX" Height = 255 Left = 2520 TabIndex = 7 Top = 3120 Width = 975 End Begin VB.TextBox GP2D12SX Height = 285 Left = 2520 TabIndex = 6 Text = "GP2D12SX" Top = 2760 Width = 975 End Begin VB.CommandButton cmdGP2D12_DX Caption = "GP2D12DX" Height = 255 Left = 2520 TabIndex = 5 Top = 480 Width = 975 End Begin VB.TextBox GP2D12DX Height = 285 Left = 2520 TabIndex = 4 Text = "GP2D12 DX" Top = 120 Width = 975 End Begin VB.CommandButton cmdGP2D120 Caption = "GP2D120" Height = 255 Left = 240 TabIndex = 3 Top = 2280 Width = 855 End Begin VB.TextBox GP2D120 Height = 285 Left = 240 TabIndex = 2 Text = "GP2D120" Top = 1920 Width = 855 End Begin VB.CommandButton cmdGP2D02 Caption = "GP2D02" Height = 255 Left = 240 TabIndex = 1 Top = 1200 Width = 855 End Begin VB.TextBox GP2D02 Height = 285 Left = 240 TabIndex = 0 Text = "GP2D02" Top = 840 Width = 855 End Begin MSCommLib.MSComm MSComm1 Left = 7680 Top = 0 _ExtentX = 1005 _ExtentY = 1005 _Version = 393216 DTREnable = -1 'True End End Attribute VB_Name = "Form1" Attribute VB_GlobalNameSpace = False Attribute VB_Creatable = False Attribute VB_PredeclaredId = True Attribute VB_Exposed = False 'Private Declare Sub Sleep Lib "kernel32.dll" (ByVal dwMilliseconds As Long) Option Explicit ' __________ Add-ons __________ Const SRF08_Ad = 224 ' The default address of the SRF08 Device Const CMPS03_Ad = 192 ' The default address of the CMPS03 Device Dim Buff_STR As String Dim Distance_SRF08 As Integer Dim Distance_GP2D12FW As Integer ' __________ __________ ' Programma originale Public BSTEM As Byte ' bstem is a variable because ' I use 2 modules Dim bbuff(0 To 12) As Byte ' Arrays and ... Const cmdDEV_VAL As Byte = 4 ' constants can not be declared "Public" Const cmdVAL_GET As Byte = 17 ' on object-modul level in VB Const cmdVAL_SET As Byte = 18 Const cmdVAL_SAV As Byte = 19 Const cmdSRV_SAV As Byte = 20 Const cmdVM_RUN As Byte = 21 Const cmdVM_KILL As Byte = 22 Const cmdDEBUG As Byte = 23 Const cmdRESET As Byte = 24 Const cmdDIG_CFG As Byte = 26 Const cmdDIG_RST As Byte = 28 Const cmdPTIME_RD As Byte = 29 Const cmdSRV_CFG As Byte = 31 Const cmdSRV_LMT As Byte = 32 Const cmdSRV_REL As Byte = 34 Const cmdSRV_RFLX As Byte = 35 Const cmdSRV_STOP As Byte = 36 Const cmdRAW_INPUT As Byte = 38 Const cmdTMR_SET As Byte = 39 Const cmdRFLXE_CFG As Byte = 40 Const cmdRFLXE_CHK As Byte = 41 Const cmdCTR_SET As Byte = 42 Const cmdCTR_CT As Byte = 43 Const cmdRAIL As Byte = 44 Const cmdFUNC As Byte = 45 Const cmdMPD_SET As Byte = 46 Const cmdMPD_CHK As Byte = 47 Const cmdWINDOW As Byte = 48 Const cmdERRAMP As Byte = 49 Const cmdERRATT As Byte = 50 Const cmdPAD_IO As Byte = 51 Const cmdPAD_INPUT As Byte = 52 Const cmdPWINDOW As Byte = 53 Const cmdPERRAMP As Byte = 54 Const cmdPERRATT As Byte = 55 Const cmdPTMR_SET As Byte = 56 Const cmdPCTR_SET As Byte = 57 Const cmdPCTR_WR As Byte = 58 Const cmdA2D_RD As Byte = 25 Const cmdDIG_IO As Byte = 27 Const cmdIR02_RD As Byte = 30 Const cmdSRV_ABS As Byte = 33 Const cmdIIC_RD As Byte = 37 Const cmdIIC_XMIT As Byte = 2 ' MAIN Private Sub Form_Load() ' Initialization routines for the 2 brainstem card InitMSComm1 InitBrainStem2 InitBrainStem4 End Sub ' RS232 IO Private Sub InitMSComm1() 'The program uses the MSComm-Control default property settings: MSComm1.DTREnable = False MSComm1.EOFEnable = False MSComm1.Handshaking = comNone MSComm1.InBufferSize = 1024 MSComm1.InputLen = 0 MSComm1.InputMode = comInputModeText MSComm1.NullDiscard = False MSComm1.OutBufferSize = 512 MSComm1.RTSEnable = False MSComm1.SThreshold = 0 ' MSComm1.RThreshold = 0 'this value should be different from 'default value 0 when using an OnComm event MSComm1.RThreshold = 1 MSComm1.Settings = "9600,N,8,1" MSComm1.CommPort = 1 'select COM-Port If MSComm1.PortOpen = False Then MSComm1.PortOpen = True End Sub ' Even if already set-up, a confirmation Private Sub InitBrainStem2() ' IIC bus baud rate 100 Khz BSTEM = 2 bbuff(0) = 3 bbuff(1) = cmdVAL_SET bbuff(2) = 3 bbuff(3) = 0 Call sendPacketVB ' Set Internal HeartBeat bbuff(0) = 3 bbuff(1) = cmdVAL_SET bbuff(2) = 5 bbuff(3) = 1 Call sendPacketVB ' DIG 0 I/O Input bbuff(0) = 3 bbuff(1) = cmdDIG_CFG bbuff(2) = 0 bbuff(3) = 0 Call sendPacketVB ' DIG 1 I/O Input bbuff(0) = 3 bbuff(1) = cmdDIG_CFG bbuff(2) = 1 bbuff(3) = 0 Call sendPacketVB ' DIG 2 I/O Input bbuff(0) = 3 bbuff(1) = cmdDIG_CFG bbuff(2) = 2 bbuff(3) = 0 Call sendPacketVB ' DIG 3 I/O Input bbuff(0) = 3 bbuff(1) = cmdDIG_CFG bbuff(2) = 3 bbuff(3) = 0 Call sendPacketVB ' DIG 4 I/O Input bbuff(0) = 3 bbuff(1) = cmdDIG_CFG bbuff(2) = 4 bbuff(3) = 0 Call sendPacketVB End Sub Private Sub InitBrainStem4() ' IIC bus baud rate 100 Khz BSTEM = 4 bbuff(0) = 3 bbuff(1) = cmdVAL_SET bbuff(2) = 3 bbuff(3) = 0 Call sendPacketVB ' Set Internal HeartBeat bbuff(0) = 3 bbuff(1) = cmdVAL_SET bbuff(2) = 5 bbuff(3) = 1 Call sendPacketVB ' DIG 0 I/O Input bbuff(0) = 3 bbuff(1) = cmdDIG_CFG bbuff(2) = 0 bbuff(3) = 0 Call sendPacketVB ' DIG 1 I/O Input bbuff(0) = 3 bbuff(1) = cmdDIG_CFG bbuff(2) = 1 bbuff(3) = 0 Call sendPacketVB ' DIG 2 I/O Input bbuff(0) = 3 bbuff(1) = cmdDIG_CFG bbuff(2) = 2 bbuff(3) = 0 Call sendPacketVB ' DIG 3 I/O Input bbuff(0) = 3 bbuff(1) = cmdDIG_CFG bbuff(2) = 3 bbuff(3) = 0 Call sendPacketVB ' DIG 4 I/O Input bbuff(0) = 3 bbuff(1) = cmdDIG_CFG bbuff(2) = 4 bbuff(3) = 0 Call sendPacketVB End Sub ' a cmd button to initialize the BrainStem cards and save the bits Private Sub cmdINITBrainStem_Click() InizializzazioneBrainStem2 bbuff(0) = 1 bbuff(1) = cmdVAL_SAV Call sendPacketVB InizializzazioneBrainStem4 bbuff(0) = 1 bbuff(1) = cmdVAL_SAV Call sendPacketVB End Sub ' Get Packet as it is Private Sub sendPacketVB() Dim i As Integer Dim SendString As String SendString = "" SendString = Chr(BSTEM) SendString = SendString & Chr(bbuff(0)) For i = 1 To bbuff(0) SendString = SendString & Chr(bbuff(i)) Next MSComm1.Output = SendString End Sub ' Get Packet with added the readiong of the complete input string from the device Private Sub getPacketVB() Dim txtBuff As String Dim i As Integer Dim c As Long Dim BuffLength Dim Len_txtBuff As Integer MSComm1.InBufferCount = 0 ' clear inBuffer Do ' wait for incoming bytes DoEvents Loop Until MSComm1.InBufferCount > 0 txtBuff = MSComm1.Input BuffLength = Len(txtBuff) ' number of received bytes ' (<= 4 bytes) BSTEM = Asc(Mid(txtBuff, 1, 1)) ' get module number bbuff(0) = Asc(Mid(txtBuff, 2, 1)) ' get packet size If BuffLength < 2 + bbuff(0) Then ' if received bytes < packet size MSComm1.InBufferCount = 0 ' do it again Do DoEvents Loop Until MSComm1.InBufferCount > 0 txtBuff = txtBuff & MSComm1.Input End If For i = 3 To Len(txtBuff) ' write received data c = Asc(Mid(txtBuff, i, 1)) ' to array bbuff() bbuff(i - 2) = c Next Buff_STR = "" For i = 1 To Len(txtBuff) Buff_STR = Buff_STR + Str(Asc(Mid(txtBuff, i, 1))) Next End Sub ' readIR02_VB as it is Function readIR02_VB(moduleNR) As Byte ' just an example BSTEM = moduleNR bbuff(0) = 2 bbuff(1) = cmdIR02_RD bbuff(2) = 128 Call sendPacketVB Call getPacketVB readIR02_VB = bbuff(3) End Function ' Routine to pilot servos on cards Sub servoabs(moduleNR As Byte, ByVal bnum As Byte, ByVal babs As Byte) BSTEM = moduleNR bbuff(0) = 3 bbuff(1) = cmdSRV_ABS bbuff(2) = bnum bbuff(3) = babs Call sendPacketVB End Sub ' to reading A2D 10 bits inputs on cards Function A2D(moduleNR As Byte, ByVal bnum As Byte) As Integer BSTEM = moduleNR bbuff(0) = 2 bbuff(1) = cmdA2D_RD bbuff(2) = bnum Call sendPacketVB Call getPacketVB A2D = DecToHex(CDbl(bbuff(3)), CDbl(bbuff(4))) End Function ' to reading Digital inputs on cards Function DIG_RD(moduleNR As Byte, ByVal bnum As Byte) As Byte BSTEM = moduleNR bbuff(0) = 2 bbuff(1) = cmdDIG_IO bbuff(2) = bnum Call sendPacketVB Call getPacketVB DIG_RD = bbuff(3) End Function ' to writing Digital inputs on cards Sub DIG_WR(moduleNR As Byte, ByVal bnum As Byte, babs As Byte) BSTEM = moduleNR bbuff(0) = 2 bbuff(1) = cmdDIG_IO bbuff(2) = bnum bbuff(3) = babs Call sendPacketVB End Sub ' to reading the SRF08 from By Register # ' Register Number 2 for reading the first echo Function SRF08_(Register_Num As Integer) Dim i As Integer BSTEM = SRF08_Ad bbuff(0) = 2 bbuff(1) = 0 bbuff(2) = 81 Call sendPacketVB Sleep 80 bbuff(0) = 1 bbuff(1) = Register_Num Call sendPacketVB BSTEM = 2 bbuff(0) = 4 bbuff(1) = 37 bbuff(2) = 128 bbuff(3) = 225 bbuff(4) = 2 Call sendPacketVB SRF08_ = SRF08_RD End Function ' to reading the light sensor Function SRF08_Light_() Dim i As Integer BSTEM = SRF08_Ad bbuff(0) = 2 bbuff(1) = 0 bbuff(2) = 81 Call sendPacketVB Sleep 80 bbuff(0) = 1 bbuff(1) = 0 Call sendPacketVB BSTEM = 2 bbuff(0) = 4 bbuff(1) = 37 bbuff(2) = 128 bbuff(3) = 225 bbuff(4) = 2 Call sendPacketVB SRF08_Light_ = SRF08_Light_RD End Function ' To reading the Compass Function CMPS03_() BSTEM = CMPS03_Ad bbuff(0) = 1 bbuff(1) = 2 Call sendPacketVB BSTEM = 2 bbuff(0) = 4 bbuff(1) = 37 bbuff(2) = 128 bbuff(3) = 193 bbuff(4) = 2 Call sendPacketVB CMPS03_ = CMPS03_RD End Function ' Cmd Buttons on the form to run the reading ' and showing the full string and the measurement Private Sub cmdGP2D02DX_Click() GP2D02DX.Text = readIR02_VB(2) GP2D02DXBuff.Text = Buff_STR End Sub Private Sub cmdGP2D02SX_Click() GP2D02SX.Text = readIR02_VB(4) GP2D02SXBuff.Text = Buff_STR End Sub Private Sub cmdGP2D120_Click() GP2D120.Text = A2D(4, 129) GP2D120Buff.Text = Buff_STR End Sub Private Sub cmdGP2D12_FW_Click() Distance_GP2D12FW = A2D(4, 128) GP2D12FW.Text = Distance_GP2D12FW GP2D12FWBuff.Text = Buff_STR End Sub Private Sub cmdGP2D12_BW_Click() GP2D12BW.Text = A2D(2, 128) GP2D12BWBuff.Text = Buff_STR End Sub Private Sub cmdSRF08_Click() Distance_SRF08 = SRF08_(2) SRF08.Text = Distance_SRF08 SRF08Buff.Text = Buff_STR End Sub Private Sub cmdSRF08_Light_Click() SRF08_Light.Text = SRF08_Light_ SRF08_Light_Buff.Text = Buff_STR End Sub Private Sub cmdCMPS03_Click() CMPS03.Text = CMPS03_ CMPS03Buff.Text = Buff_STR End Sub ' Scanning Timer for repetitive readings Private Sub Scan_timer() Sleep 100 cmdGP2D02DX_Click Sleep 100 cmdGP2D02SX_Click Sleep 100 cmdGP2D120_Click Sleep 100 cmdGP2D12_FW_Click Sleep 100 cmdGP2D12_BW_Click Sleep 100 cmdSRF08_Click Sleep 100 cmdSRF08_Light_Click Sleep 100 cmdCMPS03_Click End Sub ' Supporting function to reading the SRF08 (similar to GetPacketVB) Function SRF08_RD() Dim txtBuff As String Dim i As Integer Dim c As Long Dim BuffLength Dim Len_txtBuff As Integer MSComm1.InBufferCount = 0 ' clear inBuffer Do ' wait for incoming bytes DoEvents Loop Until MSComm1.InBufferCount > 0 txtBuff = MSComm1.Input BuffLength = Len(txtBuff) ' number of received bytes ' (<= 4 bytes) BSTEM = Asc(Mid(txtBuff, 1, 1)) ' get module number bbuff(0) = Asc(Mid(txtBuff, 2, 1)) ' get packet size If BuffLength < 2 + bbuff(0) Then ' if received bytes < packet size MSComm1.InBufferCount = 0 ' do it again Do DoEvents Loop Until MSComm1.InBufferCount > 0 txtBuff = txtBuff & MSComm1.Input End If Buff_STR = "" For i = 1 To Len(txtBuff) Buff_STR = Buff_STR + Str(Asc(Mid(txtBuff, i, 1))) Next If Len(txtBuff) = 6 Then SRF08_RD = Asc(Mid(txtBuff, 5, 1)) * 256 + Asc(Mid(txtBuff, 6, 1)) End If End Function ' Supporting function to reading the SRF08 Light Sensor (similar to GetPacketVB) Function SRF08_Light_RD() Dim txtBuff As String Dim i As Integer Dim c As Long Dim BuffLength Dim Len_txtBuff As Integer MSComm1.InBufferCount = 0 ' clear inBuffer Do ' wait for incoming bytes DoEvents Loop Until MSComm1.InBufferCount > 0 txtBuff = MSComm1.Input BuffLength = Len(txtBuff) ' number of received bytes ' (<= 4 bytes) BSTEM = Asc(Mid(txtBuff, 1, 1)) ' get module number bbuff(0) = Asc(Mid(txtBuff, 2, 1)) ' get packet size If BuffLength < 2 + bbuff(0) Then ' if received bytes < packet size MSComm1.InBufferCount = 0 ' do it again Do DoEvents Loop Until MSComm1.InBufferCount > 0 txtBuff = txtBuff & MSComm1.Input End If Buff_STR = "" For i = 1 To Len(txtBuff) Buff_STR = Buff_STR + Str(Asc(Mid(txtBuff, i, 1))) Next If Len(txtBuff) = 6 Then SRF08_Light_RD = Asc(Mid(txtBuff, 6, 1)) End If End Function ' Supporting function to reading the CMPS03 angular value into ' degrees (similar to GetPacketVB) Function CMPS03_RD() Dim txtBuff As String Dim i As Integer Dim c As Long Dim BuffLength Dim Len_txtBuff As Integer MSComm1.InBufferCount = 0 ' clear inBuffer Do ' wait for incoming bytes DoEvents Loop Until MSComm1.InBufferCount > 0 txtBuff = MSComm1.Input BuffLength = Len(txtBuff) ' number of received bytes ' (<= 4 bytes) BSTEM = Asc(Mid(txtBuff, 1, 1)) ' get module number bbuff(0) = Asc(Mid(txtBuff, 2, 1)) ' get packet size If BuffLength < 2 + bbuff(0) Then ' if received bytes < packet size MSComm1.InBufferCount = 0 ' do it again Do DoEvents Loop Until MSComm1.InBufferCount > 0 txtBuff = txtBuff & MSComm1.Input End If Buff_STR = "" For i = 1 To Len(txtBuff) Buff_STR = Buff_STR + Str(Asc(Mid(txtBuff, i, 1))) Next If Len(txtBuff) = 6 Then CMPS03_RD = (Asc(Mid(txtBuff, 5, 1)) * 256 + Asc(Mid(txtBuff, 6, 1))) / 10 End If End Function ' 10 bit A2D reading supporting function routine Private Function DecToHex(Byte_1 As Integer, Byte_2 As Integer) Dim A2D_String_Reading As String Dim Most_Byte_1 As String Dim Least_Byte_1 As String Dim Most_Byte_2 As String If Byte_1 < 16 Then Most_Byte_1 = BinValue_(0) Least_Byte_1 = BinValue_(Mid(Hex(Byte_1), 1, 1)) Else Most_Byte_1 = BinValue_(Mid(Hex(Byte_1), 1, 1)) Least_Byte_1 = BinValue_(Mid(Hex(Byte_1), 2, 1)) End If If Byte_2 < 16 Then Most_Byte_2 = BinValue_(0) Else Most_Byte_2 = BinValue_(Mid(Hex(Byte_2), 1, 1)) End If A2D_String_Reading = Most_Byte_1 + Least_Byte_1 + Most_Byte_2 DecToHex = Decimalvalue(A2D_String_Reading) End Function ' 10 bit A2D reading supporting function routine Private Function Decimalvalue(Value As String) As Integer Dim de_power As Integer Dim i As Integer de_power = 0 For i = Len(Value) To 1 Step -1 de_power = Mid(Value, i, 1) * 2 ^ (Len(Value) - i) + de_power Next Decimalvalue = de_power End Function ' 10 bit A2D reading supporting function routine Private Function BinValue_(Value As String) As String Select Case Value Case "0" BinValue_ = "0000" Case "1" BinValue_ = "0001" Case "2" BinValue_ = "0010" Case "3" BinValue_ = "0011" Case "4" BinValue_ = "0100" Case "5" BinValue_ = "0101" Case "6" BinValue_ = "0110" Case "7" BinValue_ = "0111" Case "8" BinValue_ = "1000" Case "9" BinValue_ = "1001" Case "A" BinValue_ = "1010" Case "B" BinValue_ = "1011" Case "C" BinValue_ = "1100" Case "D" BinValue_ = "1101" Case "E" BinValue_ = "1110" Case "F" BinValue_ = "1111" End Select End Function

Contents

Additional Information

Claudio Concilio put together additional supplemental information about this example that covers the example robot's evolution, the project's overview and Visual Basic 5 code with detailed explanation.

	Claudio.pdf 211.15K Bytes
Claudio's project description with source code.

Revision History:

2007-03-22: Added Claudio's supplemental information as a PDF.
2007-03-09: Example Posted
2003-03-04: Example Created

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Using a BrainStem as a Serial Slave Device with a BasicX Controller

Slave Control of BrainStem with a BasicX and Microsfot Visual Basic Example