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open-dynamic-robot-initiative / open_robot_actuator_hardware

https://open-dynamic-robot-initiative.github.io
BSD 3-Clause "New" or "Revised" License
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Connecting The Finger Optoswitch Connector #29

Closed HanTop310 closed 3 years ago

HanTop310 commented 3 years ago

Hi there, I need your help in proving me an idiot. Can you please show me on the MASTER-BOARD where is the Finger Connector is connected? Is it connected on the MICRO-DRIVER? Where?

fgrimminger commented 3 years ago

Hi, we connect the optical sensor to one of the analog-in ports of the micro driver board. There are two analog-in ports available per board (ADC-A6 and ADC-B6). Both analog measurements are transmitted through the masterboard to the control pc at 1kHz. The pins are marked in the screenshot below - you could use a 3 pin connector for connecting one optical sensor or a 4 pin connector for connecting two optical sensors. Make sure to use the 3.3V supply voltage - the analog inputs don't tolerate higher voltages. Best. Felix micro_driver_analog_in

HanTop310 commented 3 years ago

Does it matter to which micro driver i connect? cause there are 6 micro drivers (in the 12dof) and 4 sensors

fgrimminger commented 3 years ago

No - it doesn't matter - you will just need to process the right sensor values from the data stream. You can connect the optical sensors to any micro diver board. All 12 analog-in channels are transmitted to the pc. I would connect one sensor to each of the top two cards in the front and in the back. That way you have separate 3pin connectors for each sensor - and the upper cards are easier to access. We use the 90 degree Hirose connectors on the micro driver board - that makes it easier to plug and unplug the sensors on the robot.