08-21 Project Arm Sync

Question 1: list all the limit switch and encoder combination

incremental encoder/hall effect sensor (routed to odrive) + global encoder (not decided)

sensor?	which axis it is on?	protocol?

sensor?	which axis it is on?	protocol?
2 X magnetic switches	A1	GPIO
Hall effect	A1
SPI encoder(ABS pos)	A1	SPI
SSI encoder(ABS pos)	A2	SSI
Hall effect	A2
2 X magnetic switches	A2	GPIO
SSI encoder(ABS)	A3	SSI
Hall effector	A3
2 X magnetic switches	A3	GPIO
Hall effector	A4
magnetic switches	A4	GPIO
SPI encoder	A4	SPI
2 X hall effect	A5/A6
2 X SSI encoder	A5/A6	SSI
2 X magnetic switches	A5/A6	GPIO
TBD : one sensor at least for differential (share the SSI with A5/A6)
Incremental encoder	end effector
Hall effect	end effector

Question 2: TOO MANY WIRES HOW TO MANAGE IT!!!!

Yuchen Lin’s proposal:

three chunk wire → 1. 3 phase wire group (21wire NO GND)

hub (microcontroller) -? simple protocol back to a can bus and deliver power to all sensors

3 hub at least for 1 for a1/a2 one for a3/a4/a5/a6 and last one for end effector

SSI/SPI encoder cable back to the (S1 for a2 and a3) the rest to jetson and a common ground

if a lot of wire back to ebox, color encoding does not work → debug is a pain

SYSTEM LEVEL ISSUE NO ELECTRICAL INVOLVED NO NEW BOARD @Saheed Quadri @Saheed Quadri