I am still in the process of rebuilding my Hex with the new Wicked One Legs and other goodies 
. I made a few mistakes along the way, like making sure I have 3 Right Legs and 3 Left Legs 
as well as noticing that more of the leg parts changed. I needed to remove an L bracket and reconfigure the other brackets. I think I now have them correct. I reassembled the body with a slight variation of the wicked one. I still need to redo the PS2 receiver to make it smaller and the like.
After I got it put together I decided I should double check all of the zero settings and maybe experiment with SEG part of the time. To do this right now I need to pull things apart, re-jumper the serial connections on SSC32 and then connect the serial cable to the SSC32. Then once this is correct I need to pull the jumpers put back the two wire connection between the SSC32 and the mini AAB. This sequence of steps is sort of a pain… So I am planning to stop at Radio Shack when I go into town and get a small double pull double throw switch, such that I can reconfigure such that either the AAB or the RS232 port is controlling the SSC32. This is similar to what was described in the Robot magazine.
However I was wondering if anyone has done this in Software. I am using the Atom Pro right now, but I may temporarily move to an Atom to play with powerpod. What I was thinking about is writing a routine that:
If the “A” button is pressed on the AAB card, you enter a special mode and stay in the mode until you press the “A” button again.
Wire a second port (10) from AAB to the SSC32 (TX) such that I can have two way conversation between the two cards.
Then have the software check from input on one serial port and echo it to the input of the other card, optionally putting buffer in…
Has anyone tried this and made it work such that the SSC32 software did not detect it was not talking directly to the SSC32 card? I am wondering if I may need to go to the RXD/TXD pins on the PRO (which I believe are P14 and P15). This would be a little more problematic as currently this is where the PS2 controller is currently connected and I would need to move these to some other pins and redo the pull-up resistor. But the positive would be we could enable the HSERIALINT_ interrupts and detect when we have received a byte or our transmit of a byte has completed.
One reason I am considering doing something like this is that I would like to then hook up the serial input of the AAB to either Bluetooth or to a WIPORT once I have a board to plug my WIPORT into and then be able to reprogram the Atom, use SSC32, debug, etc without hooking up any wires?
What do you think? I probably won’t make much progress for the next several days as I have several other time consuming non-robotic activities taking up most of my time!
Kurt