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Husarion Core2-ROS controller

Prerequisites

Leo Rover is based on CORE2-ROS electronics board which, together with the Raspberry Pi computer, controls all the Rover's functionalities.

We encourage you to check all the specs of the board itself as there's a great amount of interfaces to be used for further development.

Electrical specification

Interface

Description

Parameters

Power input - 6.8-16V - 70...3000mA current consumption, depends on external modulesstandard 5.5/2.1 mm DC plug (centre-positive)

I/O ports - 54 ports - 3.3V/5V tolerant GPIOsseries resistance is 330Ω

ADC - up to 13 channels - 12-bit resolution

PWM - up to 10 channels:- 6x 3.3V- 4x H-bridge output - Frequency range for H-bridge: 1Hz...21khz (in 16 steps)Period range for 3.3V outputs: 1...65535 us

UART - up to 4 channels - baudrate: 4800, 9600, 14400, 19200, 38400, 57600, 115200, 128000, 256000, 1000000, 2000000, 4000000

I2C - 3 channels - up to 400kHz

SPI - 1 - up to 1 Mbps

CAN - 1 - 500kbps

External Interrupts - up to 8 channels - triggered by an edge or voltage level

Content from Husarion Core2-ROS manual.

To learn more visit: https://husarion.com/manuals/core2/

Ports used in Leo Rover

To make it easier, we listed all the interfaces used by the Rover as default. Just to make sure you don't interfere with them when developing.

Port - Functionality

Power input - to power the board and Raspberry Pi

hExt pin 1 (I/O) - to control the battery LED (to show the system readiness)

hMot A, B, C & D (PWM H-bridge) - to power the Rover motors and encoders

USB hSerial - used to flash firmware to the board

(doesn't need to be connected all the time)

Additional warning

Take into consideration during the Rover assembly and development.

The board corner where there's power connector and power-related components tends to interfere with sensitive electronics such as wheel encoders. Make sure the encoder cables don't run on top of the corner.

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