Contents

Overview

Garcia with a Linux processor builds on the Garcia foundation by incorporating a Gumstix Verdex Pro motherboard.  This configuration is a solid platform if you require a flexible/autonomous mobile robot architecture with the ability to add USB devices and have wireless networking capabilities. 

A base Garcia with a custom designed breakout board facilitates seamless Gumstix Verdex Pro integration.  The breakout board is built into the Garcia lid.  Gumstix power and communication with Garcia's BrainStem network is accomplished through a simplified wiring harness.  USB host functionality is exposed on the breakout board to attach peripherals to the Gumstix such as webcams, scanning lasers, thumb drives and other devices.  The Gumstix Verdex Pro processor provides wireless ethernet access.  Additionally, the Gumstix Verdex Pro I2C port is exposed on the Garcia breakout board. 

This configuration is a powerful start to developing fully autonomous robot applications.  High level application code can be developed to execute directly on the Gumstix Verdex Pro.  Acroname provides the aRobot API for Garcia development. 

Acroname provides an embedded server socket agent based on the aRobot API that runs onboard the Gumstix Verdex Pro.  For more information on the aRobot API, please visit the aRobot API pages. 

A Garcia with a Gumstix Verdex Pro configuration is well suited for applications involving wireless mobile sensor networks, swarms, robotics research and hands-on classrooms.  Individuals comfortable using Linux based operating systems and developing cutting edge robotics applications will feel at home with this setup. 

Specifications

Gumstix Verdex Pro motherboards are physically small processors with a large amounts of computing flexibility.  A base Garcia with a Gumstix Verdex Pro motherboard host includes the following features:

• Marvell 600MHz PXA270 Intel Processor flashed with a Linux operating system
• USB host
• Low power consumption
• A wide range of expansion daughtercards
• Wireless 802.11 networking
• Ethernet connectivity
• Multiple serial ports
• Exposed I2C header based on Acroname I2C Standard
• Exposed serial connector based on Acroname Serial Standard used to communicate with Garcia's BrainStem network. 
• Physical mount for wireless antennae

Gumstix Verdex Pro Interface Schematic

The following schematic illustrates the connection between a Gumstix Verdex Pro host processor and the Garcia robot.  This connection is built into a custom top plate circuit board attached to Garcia's lid.  The Gumstix Verdex Pro 24 pin connector is used to connect the motherboard to the Garcia lid.  Using the 24 pin connector allows other combinations of daughterboards and expansion boards to dock directly into the high density Molex connectors built into the Gumstix Verdex Pro.  A detailed interface schematic can be viewed:

	Schematic.pdf 336.72K Bytes
Garcia to Gumstix Verdex Pro interfacing schematic (Higher resolution PDF).

Revision History:

• 2008-10-07: Supporting images for configuration posted.
• 2008-10-02: Garcia Base with Linux Processor Configuration Details

Related Links:

Configuration steps for using a Gumstix Verdex Pro on a Garcia robot