The code of lower-board for ZJUDancer in 2019, designed by Jiang Zhang Yuchen and Jiang Chaofeng.
Lower-board is removed last year and TX1 controls motors directly through USB-UART-RS485. However, the test results show that the delay time in IMU data and motor data reading directly by upper-computer is massive, and it`s unacceptable. As a consequence, the concept of lower-board is used again. Core module is replaced by Motor module to reduce workload.
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ZJUDancer_code_motor: Reads IMU data through SPI1 from IMU, sends data to upper-board through UART1, sends to and reads from Dynamixel motors through USART2/3/4 concurrently.
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ZJUDancer_code_foot: Foot pressure sensor board, reads 4-way analog signals of pressure gauge through ADC1/2/3/4(DMA used). Pressure data is sent through UART1, and transferred into RS-485 signals to upper-computer.