Datasheet

• USART Communication - the system will check for problems in the configuration between
the Navigation computer and the board. It will also detect whether errors in the data
transmission have occurred. When a problem is detected the system will:
• Update the Error Status;
• Activate the Hardstop Mode;
• Activate the Timer Interrupt Event;
• Re-initialize the USART communication ports.
Then the system will verify if the USART problem has been solved. If not, it will try to correct
the problem until it has been corrected or the watchdog reset will be activated. In this case the
board will make a complete reset.
If the problem is solved the system will:
• Clear the Error Status;
• Joystick Control - the system will check whether the Joystick is enabled or not. There are 3
different possible states:
• Joystick Control Enable OFF;
• Joystick Control Enable ON;
• Joystick Control Emergency Stop pressed.
If the Emergency Stop button is pressed the system will enter the Hardstop Mode and
activate the Timer Interrupt event. The Timer Interrupt Event will send stop commands to
the motor Controllers and all the velocity commands from the Navigation Computer and from
the Joystick will be ignored.
If the Joystick Control Enable button is activated all the velocity commands from the
Navigation Computer are ignored. The Timer Interrupt Event is Enabled and the platform
starts to be controlled by the Wireless Joystick.
If the Joystick Control Enable button is disabled only the commands from the Navigation
computer will be accepted and will control the motor Controllers. The Timer Interrupt Event
will become disabled.
The Low-level Control Loop will only configure the method used to send commands to the
motors, the actual actuation will be performed by Interrupt Driven Events.
• Motor System Measures - The Motor Board Loop will sample the following sensors:
• Motor Power Voltage;
• Driver Power Voltage;
• Electronic Voltage;
• Motor Temperatures;
• Driver Temperatures.
Due to the fact that all the sensors displayed have a low change latency, we are able to read
only one of them each time that the cycle is performed. This will increase the frequency of
the Control Loop.
The results from these measures will be compared with the normal voltages for each power
supply and normal temperatures for each of the devices. If one or more of the values are out
of the normal scale then the corresponding error bit will be activated on the Error Status.
The temperature values will also activate the cooling fans on the robot.
FROG – FP7 STREP nr. 288235
Deliverable: D1.4 – Platform User and Developer Manual 34