Leo Rover is based on CORE2-ROS electronics board which, together with the Raspberry Pi computer, controls all the Rover's functionalities.
We encourage you to check all the specs of the board itself as there's a great amount of interfaces to be used for further development.
| Interface | Description | Parameters |
|---|---|---|
| Power input | 6.8-16V | 70...3000mA current consumption, depends on external modules standard 5.5/2.1 mm DC plug (centre-positive) |
| I/O ports | 54 | 3.3V/5V tolerant GPIOs series resistance is 330Ω |
| ADC | up to 13 channels | 12-bit resolution |
| PWM | up to 10 channels: - 6x 3.3V - 4x H-bridge output | Frequency range for H-bridge: 1Hz...21khz (in 16 steps) Period range for 3.3V outputs: 1...65535 us |
| UART | up to 4 channels | baudrate: 4800, 9600, 14400, 19200, 38400, 57600, 115200, 128000, 256000, 1000000, 2000000, 4000000 |
| I2C | 3 channels | up to 400kHz |
| SPI | 1 | up to 1 Mbps |
| CAN | 1 | 500kbps |
| External Interrupts | up to 8 channels | triggered by an edge or voltage level |
Content from Husarion Core2-ROS manual.
To learn more visit: https://husarion.com/manuals/core2/
To make it easier, we listed all the interfaces used by the Rover as default. Just to make sure you don't interfere with them when developing.
| Port | Functionality |
|---|---|
| Power input | to power the board and Raspberry Pi |
| hExt pin 1 (I/O) | to control the battery LED (to show the system readiness) |
|
hMot A, B, C & D (PWM H-bridge) |
to power the Rover motors and encoders |
| USB hSerial |
used to flash firmware to the board (doesn't need to be connected all the time) |
{% hint style="warning" %} Take into consideration during the Rover assembly and development.
The board corner where there's power connector and power-related components tends to interfere with sensitive electronics such as wheel encoders. Make sure the encoder cables don't run on top of the corner. {% endhint %}