Électronique pour "They see me rolling", la base roulante de PhenixRobotik.

This project requires KiCAD 5.0 and is not compatible with previous versions (software and libraries).

• Stm32f3 (?)

  • Voltage instrumentation (power, digital)
  • Power current instrumentation

• IOs :

  • Power alimentation
  • Digital alimentation
  • JTAG debug (daisy-chain)
  • CAN Bus (daisy-chain)
  • UART ?

• 2 roues codeuses + 2 encodeurs rotatifs :

  • (suggestion salamandar) Broadcom AS22-M570-xxxx
    • Ø22mm × 10.9mm
    • 360 cpr to 2048 cpr
    • dual-channel + index channel
    • 5V

• 2 moteurs Maxon DC + 2 encodeurs rotatifs

• Driver moteurs

  • (suggestion salamandar) ST L6207
    • POWERSO36
    • Operating supply voltage from 8 to 52 V
    • 5.6 A output peak current (2.8 A DC)
    • PWM current controllers
    • Operating frequency up to 100 KHz

• Current measurement

  • torque estimation / control
  • Way of doing it : Use a driver which provides this feature / shunt resistor / Hall effect sensor ?

• Architecture:

  • One single PCB card
  • One motor driver card (speed + torque control) + one position (+ odometrie ?) card ( = carte kiwi ?)
  • Two motor driver cards (speed + torque control) + one position (+ odometrie ?) card ( = carte kiwi ?)

Eventually :

• IMU / 9-axes
• ...