VideoRay Defender MSS, Руководство оператора, Страница: 93 / 109

Use
./vr_create_virtport_all.sh &
There are no arguments for this command.
This command must be executed from the flighthack directory and requires the preceding "./"
The trailing "&" allows this command to run in the background, otherwise you would need to open
a new terminal window to use commands that access the virtual ports. When finished using the virtual
ports, they should be removed using the following command: killall socat.
Example Using Virtual Ports to Communicate with a Camera
This example assumes that a Camera Module with serial number CAMADP000123 is plugged into port
2 of the Communications Module.
1. Connect and power up the system, but do not start the control software.
2. Launch the terminal program and use the following commands to access the camera.
3. Navigate to the working folder, type: cd flighthack
4. Enumerate the modules on the system, type: vr_enum You will notice that the camera does not
show up in the list of enumerated modules.
5. To create the virtual ports, type ./vr_create_virtport_all.sh &
6. Now, when you enumerate the modules using vr_enum, the camera and any other non-RS-485
devices should show up in the list. You can also see the virtual ports using the standard
directory listing command, ls
7. To send a commands to the camera, you need to include the -c portNumber option, where the
portNumber to use is the one to which the device is attached on the Communications Module (in
this case port 2, so vrport2).
To set the Node_ID and Group ID:
vr_setid -c vrport2 CAMADP000123 4 196
To enter Debug mode:
./vr_debug_putty.py -c vrport2 4
ROV Materials List
The following is a list of materials used in the exterior portions of the vehicle and tether:
1. Stainless Steel
1. 18-8
2. 304
3. 316
4. PH17-4
5. 302 (GPS Mast Spring)
2. High-density polyethylene (HDPE)
3. Neoprene Rubber
4. Nitrile Rubber
5. Polyurethane (PU)
1.
2. Foam
6. Aluminum 6061 Anodized Type III
7. Aluminum 6061 Micralox
8. Polycarbonate (PC)
9. Polypropylene (PP)
10. Polyvinyl chloride (PVC)
11. Nylon 6/6
12. RENY (50% glass fiber reinforced Super Nylon (Polyamide MXD6))
13. Potting
1. 3M Scotchcast 2123 (Polybutadiene Rubber)
2. 20-2621 Urethane potting compound (Poly urethane)