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CONNECTORS: [GND,OFF#] for power supply control; [D0,D1,D2,D3] for gpio (2 for pot control switches); TP2 for gpio, [SC2,+5,GND,SD2] for secondary I2C bus, [IO Exp1, IO Exp2] for 32 gpios using primary I2C bus; [PWM,DIR,DIS] for motor driver(s); [A,B,Z,+5,GND] for motor encoder(s); [+5,GND,VOUT] for current sensor(s); [F+, F-] for fan(s), or relay(s), or whatever; [AN0..AN5] for analog inputs (2 for pot controls); [EX0..EX3]for external interrupts (3 for R/C controls); [SC1,+5,GND,SD1] for primary I2C bus; [GND,VBATT] for power connections; COMM for standard RS232 serial link; [JP1,JP2] for COMM2 (RS232 or logic levels); ICD for code development and real time debugging.

Of course, most people won't use all of these connections, but if you need additional functionality, they are there!


Partial Feature List

1) Development connector.
2) Provided files (main.c, dalf.lib).
3) Detailed documentation.
4) Lots of unused memory both in FLASH and RAM.
5) Lots of unused I/O.




Experimenters Breadboard

A couple of motor/encoder combos (CPR=20), a dual motor driver, an R/C receiver, and a small breadboard for LED's, switches, pots, or whatever. The receiver antennae is shown in the background wrapped around a pencil (very professional!).

When driven with +12V the motors have a maximum RPM of about 4,000. The motor/encoder combo units (also gear reduction assemblies) are available from the Website of Electric Vehicle Corp. (alias the "Encoder Geek").

Differential Robot Base

12V geared PMDC wheelchair motors paired with US Digital incremental encoders (CPR=64) provide quadrature signals for position and velocity control.

Also shown are two OSMC Motor Drivers with cooling fans. The motors are over-driven with an 18V supply for a maximum RPM of about 360. Not shown is an additional 3.6:1, belt driven, gear reduction assembly that drives the 10" wheels.

The Dalf Motor Controller and OSMC Motor Drivers are available from the Website of Robot Power, Inc.