K-Team Koala 2.5, Руководство пользователя

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Koala 2.5 User Manual Rev 1.1 18
4.4 Terminal blocks (GPIO & supply)
Two terminal blocks located at the rear of the robot provide different
IO and power supply. The terminal blocks support wire from AWG 26
(0.2mm
2
) to AWG 16 (1.3mm
2
).
Figure 4.5: Terminal blocks connection
+15V: Direct connection of the External power supply voltage and VIN
from the docking station. This supply output is protected by a 1.85A
polyfuse.
+Vbat:
Two connections of the battery voltage. Each output is protected by
a 3A polyfuse. When an external power supply is connected, these
two outputs will have the same voltage as the external supply.
PW Output: Power output connection. These four open-drain outputs could drive
any charge up to 30V/3A. The protection will be made by the
polyfuse of the selected voltage (+Vbat, +5V or +3.3V).
Input:
Two digital inputs which can be read by the dsPIC (+3.3V level)
+5V:
+5V power supply which can provide up to 1.85A (protected by a
polyfuse).
+3V3:
+3.3V power supply (protected by a 1.85A polyfuse)
I2C:
I2C external bus to connect additional devices. The level of the bus
must be +3.3V.
ADC:
Two Analog to digital converter 10bits inputs. The measured voltage
must be between 0V and +3.3V (3.3V=1023).
GPIO:
Four GPIOs which can be configured as input, output or PWM output
(used to drive servo motor). The level of these GPIOs is +3.3V.
When configured as PWM, the frequency will be fixed at 50Hz and
the ON time (duty cycle) can be configured between 1ms and 2ms.