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.
This picture shows how connections have to be performed.
|Connector||Pin assignment||BBBlue Channel||Connection|
|(GPIOx_y → x*32+y)|
The Faulhaber Motors are equipped with a ribbon cable with connector.
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
This is one connection example for one motor, with encoder:
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: