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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.
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.
Motor control board. Run the algorithms to control robot movement and
An AVR runs the control logic, and a programmable logic component (an
XC9572, a CPLD from Xilinx) computes the encoders positions.
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.
High level communication bus between boards. The AI board is the master
of this bus.
The motor power board is connected using a serial high speed bus.
Pulse Width Modulation used to drive the motors.
Raw signal given by the encoders to determine rotation steps and direction.
Used to program the AVR microcontrollers.
Used for in circuit debugging.
Used for debug control and diagnostic messages.
Used to program the CPLD.