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e.DO People Learn Robotics Forums Hardware and Mechanics e.DO open-source project

This topic contains 15 replies, has 6 voices, and was last updated by  Comau 5 months, 3 weeks ago.

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  • #8392

    Comau
    Keymaster

    Dear Yu,

    The hardware is composed by four devices:

    1) An electronic power board that supplies all the print circuit boards on the e.DO.
    2) A Raspberry-PI 3.
    3) A translator PCB that converts the serial communication in CAN.
    4) Six PCBs on the joints.

    The Raspberry-Pi is the main Controller, this means that it contains the state-machine managing the usual flow of the processes.
    We can split the system into two macro-structures:

    1) The planner : devellopped inside the Raspberry-PI
    2) The PID controllers : every joint has inside these controllers that, taking into account a target position, supplies the proper current to the motor.

    The communication:

    The flow of the communication can be splitted in two groups: Serial and Can-Bus. The serial messages have been sent from the Raspberry-Pi to the Translator PCB that converts all the messages in CAN protocol by sending them to the PCBs on the joints.

    If you have more questions don’t hesitate to write us,

    Best Regards

    🙂

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