Channel type
Read channel numbers
Description
Units
Analog
0 - 3
User analog inputs
V
4
Supply voltage (battery)
V
5
Right cliff sensor
V
6
Central cliff sensor
V
7
Left cliff sensor
V
8
Right motor current
A
9
Left motor current
A
Encoder
0 - 1
User encoder inputs
counts
2
Right wheel (2578 counts per revolution)
counts
3
Left wheel (2578 counts per revolution)
counts
Digital
0 - 7
User reconfigurable digital I/O
8
Right bumper
9
Central bumper
10
Left bumper
11
Right wheel drop
12
Left wheel drop
13
Right cliff detected
14
Central cliff detected
15
Left cliff detected
16
Button B0
17
Button B1
18
Button B2
19
Right overcurrent
20
Left overcurrent
Other
13000-13001
User encoder 0-1 index position
counts
12000
Timestamp
s
16000
Charge
state
(0=discharging,
2=docking
charged, 6=docking charging, 18=adapter
charged, 22=adapter charging)
-
11000
Right wheel PWM
%
11001
Left wheel PWM
%
1002
Z-axis angle
rad
3000
X-axis angular velocity
rad/s
3001
Y-axis angular velocity
rad/s
3002
Z-axis angular velocity
rad/s
Table 2.4: QBot 2 input channels
QBOT 2 - User Manual
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