Arm Breakout Board (2024)
- Josh Magder
The following document will give a brief outline for the purpose of the Arm breakout board.
List of sensors: 08-21 Project Arm Sync
Purpose
The arm breakout board acts as a middle point between the encoders and limit switches on the arm with the Jetson in the Electrical Box. The arm board will reduce the number of electrical wires running down the arm, creating more free space.
Components
The arm board will feature a network of 6 small STM32 F042K6 boards which will each receive:
1 SSI signal for an encoder (Axis 2, 3, 5, 6) or 1 SPI signal for an encoder (Axis 1, 4)
2 Limit switches (basic GPIO digital signal input)
Each small board will send a packet through UART to one central STM32 board (@Yuchen Lin please source).
This board will be responsible for reading all 6 UART packets and creating one long message which will contain all sensor data. Message will be sent through an onboard CAN transceiver.
The boards will all be soldered as through-hole components to the breakout board, where each signal on the STM board will be routed to an external pin on the breakout board.
Sample breakout board (just for a rough understanding of how it would work):
