To get the Brainstems to effectively work in tight control loops we should increase the serial communications rate. Since the reactive code used during the camp works best when a fast update rate is implemented, modification of the Java protocal, the Brainstem, and the Console application.

For the Java protocal, you need to write the following into the BrainstemDefault file:

To modifiy the Promni-SD202 Bluetooth modules:

• Change the baudrate to 115200
• No parity
• 1 stop bit
• Flow control off

The Console application for the brainstem enter the following:

     --- 2 18 4 6
     --- 2 19

     Turn off the power and reapply it to the Brainstem.

     Change the Console.config file to reflect your new settings.