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Sinusoidal RosIO Card that reduces cost by combining several interfaces and saves space. It has 3 ultrasonic module input decoder, up to six 0-5V range analog input, 1 joystick interface with 2 buttons, 2 pwm outputs, 3 digital outputs. Each ultrasonic module capable up to 4 ultrasonic horns.
Each ultrasonic module interface capable to decode 4 horn ultrasonic module. Each ultrasonic module interface can be energized from ros topics as Bool message. Ultrasonic modules’ data handled at rosdriver and each horn’s range message published as Range message with same frame id. Each decoder interface runs at 10 Hz.
Each analog input interface can be used 0-5V with output analog sensors.
Each interface has 12bit resolution.
Each analog input interface supports varios of sensors like;
Infrared distance sensors,
Analog accelerometers,
Analog gyroscopes etc.
Analog interfaces from 1-6 has handled at rosdriver as infrared inputs as example, each analog
information scaled to max infrared range and published as Range message.
Joystick interface has 2 analog inputs for potentiometer inputs X,Y, and 2 digital 24V inputs for
joystick button.
The ros driver example publishes the sensor_msgs/Joy message.
Each digital output interface has an open drain output 4.2A 40V maximum. 3 of them can be used for RGB led strip drive with one PWM output. Each digital output interface can be energized from appropriate ros topic as Bool message.
Each digital pwm interface has an open drain output 4.2A 40V maximum with PWM frequency ~1Khz 8 bit resolution. Ros control topic of Pwm output interfaces shown in example python test file. Ros message type is UINT8.
Ultrasonic Interfaces | ||
---|---|---|
Number of channels | 3 | |
Maximum supported horns | 12 | |
Ultrasonic module sensor accuracy | +/- 3 cm | |
ROS Publish Frequency | 10 Hz | |
Analog Input Interfaces | ||
Number of channels | 6 | |
Resolution | 12 bits | |
Accuracy | 10 bits | |
Input Ranges | 0 - 5V | |
Offset Error | +/- 2LSB | |
Conversion Time | 20 us/channel | |
ROS Publish Frequency | 10 Hz | |
Digital Output Interfaces | ||
Number of channels | 3 | |
Output Type | Open Drain | |
Max Output Voltage | 40 V | |
Max Output Current | 4 A | |
PWM Output Interfaces | ||
Number of channels | 2 | |
PWM Frequency | 1000 Hz | |
PWM Resolution | 8 bits | |
Output Type | Open Drain | |
Joystick Interface | ||
Number of input buttons | 2 | |
Number of analog channel | 2 | |
Communication Interface | ||
USB 2.0 Usb-HID protocol | 1 | |
Power Requirements | ||
24 V input for PWM Output 1 | Optional | |
12 V input for Ultrasonic Modules | Required if ultrasonic modules will be connected. | |
5 V input for ROSIO Card paralleled with USB input | Optional |