summaryrefslogtreecommitdiff
path: root/eurobot/2008/electronic-architecture.txt
diff options
context:
space:
mode:
Diffstat (limited to 'eurobot/2008/electronic-architecture.txt')
-rw-r--r--eurobot/2008/electronic-architecture.txt50
1 files changed, 50 insertions, 0 deletions
diff --git a/eurobot/2008/electronic-architecture.txt b/eurobot/2008/electronic-architecture.txt
new file mode 100644
index 00000000..70188081
--- /dev/null
+++ b/eurobot/2008/electronic-architecture.txt
@@ -0,0 +1,50 @@
+=========================
+ Electronic architecture
+=========================
+
+Boards
+======
+
+IO:
+ Input/Output board. It acquires information from sensors (switches, IR
+ distance detectors, color sensors...) and it controls actuators (servo
+ motors, auxiliary motors...).
+
+ The main component is an AVR, surrounded by many connectors.
+AI:
+ Artificial intelligence board, may optionally be merged with IO board. It
+ runs the robot automaton and decision algorithms.
+
+ The main component is an AVR, as the board is the same as the IO one. It
+ contains a flash memory to record the decisions taken by the robot.
+Asserv:
+ Motor control board. Run the algorithms to control robot movement and
+ position.
+
+ An AVR runs the control logic, and a programmable logic component (an
+ XC9572, a CPLD from Xilinx) computes the encoders positions.
+Motor Power:
+ It applies consigns from the Asserv board to the motors. An AVR is
+ responsible to control the current sunk in the motors and a owned-built
+ H-bridge drive the power.
+
+Communications
+==============
+
+I²C:
+ High level communication bus between boards. The AI board is the master
+ of this bus.
+SPI:
+ The motor power board is connected using a serial high speed bus.
+PWM:
+ Pulse Width Modulation used to drive the motors.
+Quadrature:
+ Raw signal given by the encoders to determine rotation steps and direction.
+AVR ISP:
+ Used to program the AVR microcontrollers.
+AVR JTAG:
+ Used for in circuit debugging.
+DEBUG UART:
+ Used for debug control and diagnostic messages.
+CPLD JTAG:
+ Used to program the CPLD.