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1.7 KiB
1.7 KiB
Grasp Node
Pictures here.
Designed by Dylan Thrush.
Summary
Made for MR1718 as part of the OSU Robotics Club.
Controls 4 DC motors with quadrature encoder and current feedback. Has four analog inputs intended to be used with force resistors.
Bill of Materials
Design files
Downloads
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 |
| Red LED | 6 |
| Green LED | 32 |
| Blue LED | 1 |
Known Issues
Version 1
- Missing 3v3 rail connection to VBAT pin on Teensy. Will program without it, but will not boot without it.
- 12V switching supply GND is not connected to board GND.
- Motor controller needs a thermal pad in the footprint, will not work otherwise because thermal pad is connected to GND. Scrape away silkscreen below package before soldering.
- Motors 2-4 are still not working...
- LED needs to be rotated 90 deg CCW for power pin to line up.