Arm Board Communication Overview

The Arm Board System is comprised of:

• Six Axis Controllers (STM32 Nucleo-F042K6)

  • Two Limit Switches (MITG ES2-H4N1)

  • One Global Encoder

• Arm Board Controller (STM32 Nucleo-H4743ZI)

  • 6 SPI connections to each Axis Controller

  • UART communication to Jetson

Open

Arm Board Communication Diagram