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Update and rename grasping.md to grasp.md

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Dylan Thrush
2018-03-10 20:47:03 -08:00
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electrical/documents/nodes/grasping.md → electrical/documents/nodes/grasp.md
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@@ -1,4 +1,4 @@
# Grasping Node
# Grasp Node
Pictures here.
@@ -24,7 +24,40 @@ Controls 4 DC motors with quadrature encoder and current feedback. Has four anal
[3D Model V1 (STEP)](files/grasp.step)
### Firmware Info
#### Pinouts
| Pin Name | Arduino Pin Number |
| -------- | :----------------: |
| PWM 1.1 | 25 |
| PWM 1.2 | 22 |
| PWM 2.1 | 23 |
| PWM 2.2 | 9 |
| PWM 3.1 | 10 |
| PWM 3.2 | 20 |
| PWM 4.1 | 5 |
| PWM 4.2 | 21 |
| Motor Current 1 | 16/A2 |
| Motor Current 2 | 17/A3 |
| Motor Current 3 | 19/A5 |
| Motor Current 4 | 18/A4 |
| Encoder 1A | 2 |
| Encoder 1B | 30 |
| Encoder 2A | 29 |
| Encoder 2B | 27 |
| Encoder 3A | 28 |
| Encoder 3B | 12 |
| Encoder 4A | 11 |
| Encoder 4B | 13 |
| Force 1 | A14 |
| Force 2 | A13 |
| Force 3 | A12 |
| Force 4 | A1|
### Known Issues
#### Version 1
- Missing 3v3 rail connection to VBAT pin on Teensy. Will program without it, but will not boot without it.
- 12V supply is outputting about 22V
- Motors are not turning :(