Datasheet

• Set Events
• Set Collision Event;
• Set Obstacle Detection Event;
• Set Communication Error Event.
• Get Events
• Get Motor Status.
3. Sensor&Management Interrupt Events - When a communication error, collision or an
obstacle is detected by the Sensor&Management Board, it sends an error message to the
Motor Board (see Figure 31). By doing that it will generate a Sensor&Management Interrupt
event. The Sensor&Management Board is able to send status information, but is also able
to use this channel to get the Motor Board status.
The Sensor&Management is able to force the following events:
• Set Events
• Set Collision Event;
• Set Obstacle Detection Event;
• Set Communication Error Event.
• Get Events
• Get Motor Status.
FROG – FP7 STREP nr. 288235
Deliverable: D1.4 – Platform User and Developer Manual 37
Figure 31: how the system processes Timer Interrupt Events