Awesome
<a href="https://107-systems.org/"><img align="right" src="https://raw.githubusercontent.com/107-systems/.github/main/logo/107-systems.png" width="15%"></a>
l3xz-leg-ctrl-hardware
Custom leg controller board for the L3X-Z Hexapod.
<p align="center"> <a href="https://github.com/107-systems/l3xz"><img src="https://raw.githubusercontent.com/107-systems/.github/main/logo/l3xz-logo-memento-mori-github.png" width="40%"></a> </p>Firmware
Pin Usage
Arduino Nano 33 IoT connector CN1
| Pin | Pin Name | Signal | Description |
|---|---|---|---|
| 1 | D13/SCK | SPI_SCK | SPI for CAN and AS5048 encoder |
| 2 | +3V3 | 3V3-rail | supply voltage for board |
| 3 | AREF | ||
| 4 | DAC0/A0 | ||
| 5 | A1 | +BATT_MEAS | measurement of input voltage |
| 6 | A2 | ||
| 7 | A3 | ||
| 8 | A4/SDA | I2C_SDA | I2C for eeprom and qwiic |
| 9 | A5/SCL | I2C_SCL | I2C for eeprom and qwiic |
| 10 | A6 | LED3 | status LED 3 |
| 11 | A7 | LED2 | status LED 2 |
| 12 | VUSB/+5V0 | ||
| 13 | REC/RESET | RESET | Reset |
| 14 | GND | GND | GND |
| 15 | VIN | power input | power input for board |
| 16 | D1/TX | SERIAL_TX | to connector CN3 |
| 17 | D0/RX | SERIAL_RX | to connector CN3 |
| 18 | RESET | RESET | Reset |
| 19 | GND | GND | GND |
| 20 | D2 | LED1 | status LED 1 |
| 21 | D3 | MCP2515_CS | chip select for CAN |
| 22 | D4 | AS5048_1_CS | chip select for AS5048 1 |
| 23 | D5 | AS5048_2_CS | chip select for AS5048 2 |
| 24 | D6 | BUMPER | input for bumper |
| 25 | D7 | SERVO1 | PWM output for servo 1 |
| 26 | D8 | ||
| 27 | D9 | MCP2515_INT | CAN interrupt |
| 28 | D10 | SERVO2 | PWM output for servo 2 |
| 29 | D11/MOSI | SPI_MOSI | SPI for CAN and AS5048 encoder |
| 30 | D12/MISO | SPI_MISO | SPI for CAN and AS5048 encoder |
Qwiic I2C connector CN2
JST SH 1mm 4-pin.
| Pin | Signal |
|---|---|
| 1 | GND |
| 2 | VCC |
| 3 | I2C_SDA |
| 4 | I2C_SCL |
Serial connector CN3
JST SH 1mm 4-pin.
| Pin | Signal |
|---|---|
| 1 | GND |
| 2 | VCC |
| 3 | SERIAL_TX |
| 4 | SERIAL_RX |
Dronecode CAN connector CN4 and CN5
JST GH 1.25mm 4-pin.
| Pin | Signal |
|---|---|
| 1 | CANVCC |
| 2 | CANH |
| 3 | CANL |
| 4 | GND |
Power Input CN6
Würth WR-TBL 3.81mm 2-pin.
| Pin | Signal | Description |
|---|---|---|
| 1 | V-IN | Directly to Arduino Nano VIN |
| 2 | GND |
Attention: V_IN is 5 to 21 V and is directly connected to VIN of the Arduino with a diode for reverse polarity protection. It is also directly connected to +5V of the servo connector. So it should be limited to +6V if servos are used.
Cervo connector CN7
2x3 pin-header 2.54 mm.
| Pin | Signal | Description |
|---|---|---|
| 1+2 | servo-pwm | 50 Hz pulse signal |
| 3+4 | +5V | directly connected to VIN |
| 5+6 | GND |
Bumper Connector CN8
WAGO 733-362 2.5mm 2-pin.
| Pin | Signal | Description |
|---|---|---|
| 1 | BUMPER | 10k pull up to +3.3V |
| 2 | GND |