Fig. 1 Bottom board view.
The bottom board generates the voltage levels for all of EMYS' subsystems. It houses two separate DC-DC converters and two H-bridge drivers with current sense capability for DC eye protrusion motors as well as shunt current measurement units for each of four servomotors (eye rotation and eyelid rotation). The controller also serves as the main point for connection of external components. Detailed information on positioning and function of bottom board connectors can be found below.
Fig. 2 Bottom board overview.
|X1-3||8 pin Micro-Match||Board-to-board signal connectors, not marked in Fig. 2|
|X4||10 pin Micro-Match||Board-to-board signal connector, not marked in Fig. 2|
|X5||Pin header 2,54mm 1x3||Right eyelid servomotor|
|X6||Pin header 2,54mm 1x3||Right eye rotation servomotor|
|X7||Pin header 2,54mm 1x3||Left eyelid servomotor|
|X8||Pin header 2,54mm 1x3||Left eye rotation servomotor|
|X9-10||Molex 22-03-5045||Main power/communication connector, compatible with Dynamixel servomotors|
|X11||ZL231-10PG||Left eye protrusion motor encoder|
|X12||ZL231-10PG||Right eye protrusion motor encoder|
|X13||B2B-PH-K-S||Left eye protrusion motor|
|X14||B2B-PH-K-S||Right eye protrusion motor|
Fig. 3 Top board view.
Top board of the Ver. 2 controller is responsible for communication and generating control signals for EMYS' drives. It is based on a Freescale Kinetis K40 microcontroller running Freescale's real time operating system - MQX. Up to 5 custom electrodes can be placed inside of EMYS' covers and connected to the top board to enable the robot to sense touch. Signal LEDs allow the user to quickly diagnose the state that the controller is currently in.
Fig. 4 Top board overview.
|X1-3||8 pin Micro-Match||Board-to-board signal connectors, not marked in Fig. 3|
|X4||10 pin Micro-Match||Board-to-board signal connector, not marked in Fig. 3|
|X5||Picoblade, straight, 1x5||Touch sensing electrodes input|
|X6||J-Link needle adapter||J-Link programmer connector|
|X7||Picoblade, straight, 1x4||Master PC USB connection|
|X8||Picoblade, straight, 1x4||On-board RGB camera input|
|X9||Picoblade, right angle, 1x2||RTC battery input|