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connections

Overview

This overview shows the whole system together with all necessary modules.

LEDs and Buttons

The robot can be equipped with three buttons with LED, which can be used to trigger actions. On the first picture the pin connections are shown on the button.

Test

This picture shows how connections have to be performed.

ConnectorPin assignmentBBBlue ChannelConnection
(GPIOx_y → x*32+y)
GP0 GPIO3_17 113 Green Button
GPIO3_20 116 Green LED
GPIO1_17 49 Red LED
GPIO1_25 57 Red Button
3.3V
GND
GP1 LED_GREEN
LED_RED 1 evtl. Magnet
GPIO3_1 97 Blue Button
GPIO3_2 98 Blue LED
3.3V
GND

Motors and Encoders

The Faulhaber Motors are equipped with a ribbon cable with connector.

Test

Connections:

  1. Motor -
  2. Motor +
  3. GND
  4. Udd (5V)
  5. Channel B
  6. Channel A

Motors receive an analog signal directly from the Beagle Bone Blue. Encoders are also supplied over the Beagle Bone Blue, with 5V.

A level shifter is needed for A and B channel signals of the encoders. The signals need to be reduced from 5V to 3.3V. We used a bi-directional level shifter of Adafruit: https://www.adafruit.com/product/757

Test

This is one connection example for one motor, with encoder:

Breadboard

We connected all additional components to a breadboard of Adafruit https://www.adafruit.com/product/1609 and placed it near the Beaglebone Blue. Connections are reported in the following sketch:

Implementation on Robot

connections.txt · Last modified: 2019/09/20 15:38 by graf