The lower-board of ZJUDancer in 2019, designed by Jiang Chaofeng.
Lower-board is nearly removed last year and TX1 controls motors directly through USB-UART-RS485. However, the test results show that the delay time in IMU data and motor data reading directly by upper-computer is massive, and it`s unacceptable. As a consequence, the concept of lower-board is used again. Core module is replaced by Motor module to reduce workload, so the change is mainly in BottomBoard compared to boards in 2018.
It connects to the USB port of TX1 carrier board, and branches off into 4-way USB. One USB for camera, one for keyboard or mouse, one switches into RS-485 and connects Dynamixel motors, and the last one switches into RS-TTL and connects Core module in BottomBoard to get IMU data. There is also a power port for TX1 carrier board.
Gets power through dual-port from two battery;
Voltage stabilization;
Two power switch;
Low voltage alarm;
A serial line connects upper board and Motor board;
Motor board and IMU board connector;
3-way Dynamixel motors ports;
Motor module: Reads IMU data through SPI1 from IMU, sends data to upper-board through UART1, sends to and reads from Dynamixel motors through USART2/3/4 concurrently.
IMU module: A carrier board for IMU.
Input module: A carrier board for battery sockets. Just changes the battery sockets direction, so that it`s easy to plug in the batteries.
Foot pressure sensor board, reads 4-way analog signals of pressure gauge through ADC1/2/3/4. Pressure data is sent through UART1, and transferred into RS-485 signals to upper-computer.
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