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== Sub20 Library ==
This package builds a library which can be used from other ROS packages to communicate over the [[http://www.xdimax.com/sub20/sub20.html|Sub20 Multi Interface USB Adapter]].

For example see [[bma180]], [[smi540]], or [[bmp085]]. In these packages the Sub20 device is used to communicate with an SPI or I2C slave device.

== Sub20 Permissions ==

By default, the file permissions for the Sub20 device does not permit writing. This often leads to an error of "No Sub device found." or similar. The device will be located in /dev/bus/usb/xxx/xxx, where a chmod operation can be used.

A udev rule can also be created to permanently change the permissions. Copy the text in the box below to the file /etc/udev/rules.d/65-usb-xdimax.rules
{{{
# set permission to 666 for Sub20 device
SUBSYSTEM=="usb", ATTR{idVendor}=="04d8", ATTR{idProduct}=="ffc3", ACTION=="add", MODE="0666"
}}}

NB: The vendor and product IDs are case sensitive.

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