IO Config Editor - Revision history

Blayze: /* Unidirectional Brushless Motor */ Adds notice about ESCs "beeping" non-used motors.

2024-09-20T12:25:05Z

Unidirectional Brushless Motor: Adds notice about ESCs "beeping" non-used motors.

← Older revision		Revision as of 12:25, 20 September 2024
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	A [[wikipedia:Brushless_DC_electric_motor\|brushless motor]] is a type of motor that uses many (usually three) electromagnetic circuits, pulsed in a specific sequence to generate a moving magnetic field - this field then "pulls" the motor's magnetised rotor with it, allowing for rotation without direct electrical contact (as is found in brushed motors, where metal brushes must transfer power directly to the rotor), resulting in motors that are less prone to wear and generally operate more smoothly and efficiently. The downside of this is that they require [[wikipedia:Electronic_speed_control\|electronic speed controllers (ESCs)]] to be driven, which are circuits containing microprocessors that power the motor's coils in the correct sequential pattern. These ESCs take in a control signal, and will often require an arming sequence before they start to energise the motor's coils.		A [[wikipedia:Brushless_DC_electric_motor\|brushless motor]] is a type of motor that uses many (usually three) electromagnetic circuits, pulsed in a specific sequence to generate a moving magnetic field - this field then "pulls" the motor's magnetised rotor with it, allowing for rotation without direct electrical contact (as is found in brushed motors, where metal brushes must transfer power directly to the rotor), resulting in motors that are less prone to wear and generally operate more smoothly and efficiently. The downside of this is that they require [[wikipedia:Electronic_speed_control\|electronic speed controllers (ESCs)]] to be driven, which are circuits containing microprocessors that power the motor's coils in the correct sequential pattern. These ESCs take in a control signal, and will often require an arming sequence before they start to energise the motor's coils.

	The "Unidirectional Brushless Motor" IO Unit allows the RoboPad to send drive signals (much as a traditional RC radio receiver would) suitable for reception by an ESC that can accept a PWM control signal, and will automatically send ~~the~~ configured arming sequence beforehand in order to initialise the ESC ready for motor control. Note that this only configures one pin as a control signal pin, and as such is designed to work with ''unidirectional'' brushless motor ESCs, i.e. ESCs that allow a single motor to be driven in a single direction at varying speeds. An incoming nodegraph signal of 0 results in the minimum microseconds signal being sent to the ESC, while an incoming nodegraph signal of 1 results in the maximum microseconds signal being sent to the ESC. This IO Unit creates an output port (labeled "<name> armed") on the Chip Node that signals high (1) when a control signal has been passed to it that would place it into it's safe state.		The "Unidirectional Brushless Motor" IO Unit allows the RoboPad to send drive signals (much as a traditional RC radio receiver would) suitable for reception by an ESC that can accept a PWM control signal, and will automatically send thvcbe configured arming sequence beforehand in order to initialise the ESC ready for motor control. Note that this only configures one pin as a control signal pin, and as such is designed to work with ''unidirectional'' brushless motor ESCs, i.e. ESCs that allow a single motor to be driven in a single direction at varying speeds. An incoming nodegraph signal of 0 results in the minimum microseconds signal being sent to the ESC, while an incoming nodegraph signal of 1 results in the maximum microseconds signal being sent to the ESC. This IO Unit creates an output port (labeled "<name> armed") on the Chip Node that signals high (1) when a control signal has been passed to it that would place it into it's safe state.

	* '''Name''': The name of this brushless motor, basically only changes the name of the motor input port on the Chip Node.		* '''Name''': The name of this brushless motor, basically only changes the name of the motor input port on the Chip Node.
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	* '''Maximum Microseconds [''Advanced'']''': The maximum value the PWM control signal generated has (i.e. what it has when a 1/high signal is sent to the IO Unit via the nodegraph). '''Only change this if you know what you are doing!'''		* '''Maximum Microseconds [''Advanced'']''': The maximum value the PWM control signal generated has (i.e. what it has when a 1/high signal is sent to the IO Unit via the nodegraph). '''Only change this if you know what you are doing!'''
	* '''Arm Sequence''': The sequence of signals that must be sent to the ESC to arm it. Refer to your ESC's manual to understand it's arming sequence and select the appropriate option here. If none match, [https://robopad.co.uk/contact.html drop us a line and tell us].		* '''Arm Sequence''': The sequence of signals that must be sent to the ESC to arm it. Refer to your ESC's manual to understand it's arming sequence and select the appropriate option here. If none match, [https://robopad.co.uk/contact.html drop us a line and tell us].
			''Note:'' Many ESCs will emit a "standby" noise if you have them armed but not in use for a prolonged time. This is usually expressed as the motor spinning small amounts to beep every few seconds.

	==== Servo Motor ====		==== Servo Motor ====

Blayze: /* Physically Attaching Hardware */

2024-07-10T01:17:32Z

Physically Attaching Hardware

← Older revision		Revision as of 01:17, 10 July 2024
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	== Physically Attaching Hardware ==		== Physically Attaching Hardware ==
	Hardware such as motors typically connects to one of the M1 or M2 output pairs or the E1 and E2 output pins (or others if in advanced mode, as laid out in the "Pins" section [[IO Config Editor#Pins\|above]]). While M1 and M2 can drive motors directly via a passthrough to the RoboPad's supply voltage, motors that require their own voltage supply such as servos or brushless motors will require a connection directly to their own power supply. Typically this is the same power source as that used to power the RoboPad, however it could also be a battery elimination circuit (BEC) or any other voltage-appropriate power source. The images below show some example wiring diagrams:<gallery mode="slideshow">		Hardware such as motors typically connects to one of the M1 or M2 output pairs or the E1 and E2 output pins (or others if in advanced mode, as laid out in the "Pins" section [[IO Config Editor#Pins\|above]]). While M1 and M2 can drive motors directly via a passthrough to the RoboPad's supply voltage, motors that require their own voltage supply such as servos or brushless motors will require a connection directly to their own power supply. Typically this is the same power source as that used to power the RoboPad, however it could also be a battery elimination circuit (BEC) or any other voltage-appropriate power source. The images below show some example wiring diagrams (use the left and right buttons to change between images):<gallery mode="slideshow">
	File:Basic 2-Motor wiring diagram.png\|The most basic RoboPad circuit configuration, consisting of two drive motors connected to the M1 and M2 pin pairs.		File:Basic 2-Motor wiring diagram.png\|The most basic RoboPad circuit configuration, consisting of two drive motors connected to the M1 and M2 pin pairs.
	File:Servo Wiring Diagram.png\|A servo motor with it's control signal connected to the E1 pin, while it's power supply is connected to the same battery power supply powering the RoboPad.		File:Servo Wiring Diagram.png\|A servo motor with it's control signal connected to the E1 pin, while it's power supply is connected to the same battery power supply powering the RoboPad.
	</gallery>		</gallery>

Blayze: /* Physically Attaching Hardware */ Adds slideshow

2024-07-10T01:17:01Z

Physically Attaching Hardware: Adds slideshow

← Older revision		Revision as of 01:17, 10 July 2024
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	== Physically Attaching Hardware ==		== Physically Attaching Hardware ==
	Hardware such as motors typically connects to one of the M1 or M2 output pairs or the E1 and E2 output pins (or others if in advanced mode, as laid out in the "Pins" section [[IO Config Editor#Pins\|above]]). While M1 and M2 can drive motors directly via a passthrough to the RoboPad's supply voltage, motors that require their own voltage supply such as servos or brushless motors will require a connection directly to their own power supply. Typically this is the same power source as that used to power the RoboPad, however it could also be a battery elimination circuit (BEC) or any other voltage-appropriate power source. The images below show some example wiring diagrams:		Hardware such as motors typically connects to one of the M1 or M2 output pairs or the E1 and E2 output pins (or others if in advanced mode, as laid out in the "Pins" section [[IO Config Editor#Pins\|above]]). While M1 and M2 can drive motors directly via a passthrough to the RoboPad's supply voltage, motors that require their own voltage supply such as servos or brushless motors will require a connection directly to their own power supply. Typically this is the same power source as that used to power the RoboPad, however it could also be a battery elimination circuit (BEC) or any other voltage-appropriate power source. The images below show some example wiring diagrams:<gallery mode="slideshow">
			File:Basic 2-Motor wiring diagram.png\|The most basic RoboPad circuit configuration, consisting of two drive motors connected to the M1 and M2 pin pairs.
			File:Servo Wiring Diagram.png\|A servo motor with it's control signal connected to the E1 pin, while it's power supply is connected to the same battery power supply powering the RoboPad.
			</gallery>

Blayze: Add physically attaching hardware part

2024-07-10T01:13:42Z

Add physically attaching hardware part

← Older revision		Revision as of 01:13, 10 July 2024
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	== Pins ==		== Pins ==
	[[File:Screenshot from 2022-11-06 23-38-46.png\|thumb\|Accessible pins, as they are seen on the RoboPad.]]		[[File:Screenshot from 2022-11-06 23-38-46.png\|thumb\|Accessible pins, as they are seen on the RoboPad version 1.1 board.]]
	Much like an Arduino, pins are capable of driving a small current (~12mA per pin) at 3.3v to external circuitry, or can sink a small current (~20mA). Below is a list of the different pin names and how they might be used.		Much like an Arduino, pins are capable of driving a small current (~12mA per pin) at 3.3v to external circuitry, or can sink a small current (~20mA). Below is a list of the different pin names and how they might be used.
			[[File:RoboPad 1.3 Pinout.png\|thumb\|Accessible pins, as they are seen on the RoboPad version 1.2 and 1.3 boards.]]
	{\| class="wikitable"		{\| class="wikitable"
	\|+Pin names, IDs and additional information		\|+Pin names, IDs and additional information
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	* '''Safety Value''': The percent, relative from the ''minimum microseconds'' value (0%) to the ''maximum microseconds'' value (100%) to return to when entering the [[emergency stop state]] if ''Stop Behaviour'' is set to "Return to safe".		* '''Safety Value''': The percent, relative from the ''minimum microseconds'' value (0%) to the ''maximum microseconds'' value (100%) to return to when entering the [[emergency stop state]] if ''Stop Behaviour'' is set to "Return to safe".
	* '''Stop Behaviour''': What value to output when in the [[emergency stop state]] if the ''Stop Behaviour'' is configured as "Return to safe".		* '''Stop Behaviour''': What value to output when in the [[emergency stop state]] if the ''Stop Behaviour'' is configured as "Return to safe".

			== Physically Attaching Hardware ==
			Hardware such as motors typically connects to one of the M1 or M2 output pairs or the E1 and E2 output pins (or others if in advanced mode, as laid out in the "Pins" section [[IO Config Editor#Pins\|above]]). While M1 and M2 can drive motors directly via a passthrough to the RoboPad's supply voltage, motors that require their own voltage supply such as servos or brushless motors will require a connection directly to their own power supply. Typically this is the same power source as that used to power the RoboPad, however it could also be a battery elimination circuit (BEC) or any other voltage-appropriate power source. The images below show some example wiring diagrams:

Blayze: /* IO Units */ bold'd "armed"

2024-07-10T00:26:41Z

IO Units: bold'd "armed"

← Older revision		Revision as of 00:26, 10 July 2024
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	A variety of IO Units can be added that are suitable for a number of uses, all are listed here.		A variety of IO Units can be added that are suitable for a number of uses, all are listed here.
	=== Actuators ===		=== Actuators ===
	All actuators add input ports to the [[Chip Node]], allowing signals to be passed from the [[Nodegraph Editor\|Node Graph]] to each actuator. On top of this, each actuator will create an output port on the Chip Node, usually labelled ending with ''"Armed"'' - this is an indicator of whether or not the actuator is '''armed'''. The signal to any specific actuator ''must'' pass through that actuator's configured '''safe value''' for it to be considered to be armed - then and only then will the actuator start to process new control signals. As an example, an servo attached using the "PWM Output" with a safety value set to 50% would require a near-50% signal to be sent to it's input before you will be able to see any change in the pin's output.		All actuators add input ports to the [[Chip Node]], allowing signals to be passed from the [[Nodegraph Editor\|Node Graph]] to each actuator. On top of this, each actuator will create an output port on the Chip Node, usually labelled ending with ''"Armed"'' - this is an indicator of whether or not the actuator is '''armed'''. The signal to any specific actuator ''must'' pass through that actuator's configured '''safe value''' for it to be considered to be '''armed''' - then and only then will the actuator start to process new control signals. As an example, an servo attached using the "PWM Output" with a safety value set to 50% would require a near-50% signal to be sent to it's input before you will be able to see any change in the pin's output.

	All actuators output '''3.3 volts''' along their output pins. Make sure that any connected peripherals such as ESCs or H-Bridges operate with 3.3 volt logic.		All actuators output '''3.3 volts''' along their output pins. Make sure that any connected peripherals such as ESCs or H-Bridges operate with 3.3 volt logic.

Blayze: /* IO Units */ Adds info on armed status output ports.

2023-03-10T02:35:20Z

IO Units: Adds info on armed status output ports.

Blayze: /* Servo Motor */ Adds additional warnings about amperage source and sink limits on output pins.

2023-03-02T15:34:39Z

Servo Motor: Adds additional warnings about amperage source and sink limits on output pins.

← Older revision		Revision as of 15:34, 2 March 2023
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	== Pins ==		== Pins ==
	[[File:Screenshot from 2022-11-06 23-38-46.png\|thumb\|Accessible pins, as they are seen on the RoboPad.]]		[[File:Screenshot from 2022-11-06 23-38-46.png\|thumb\|Accessible pins, as they are seen on the RoboPad.]]
	~~All~~ pins are capable of driving a small current at 3.3v to external circuitry, ~~below~~ is a list of the different pin names and how they might be used.		Much like an Arduino, pins are capable of driving a small current (~12mA per pin) at 3.3v to external circuitry, or can sink a small current (~20mA). Below is a list of the different pin names and how they might be used.
	{\| class="wikitable"		{\| class="wikitable"
	\|+Pin names, IDs and additional information		\|+Pin names, IDs and additional information
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	A [[wikipedia:Servomotor\|servo motor]] is a motor/control board combination integrated circuit that takes a control signal and actuates to a position within its range of movement that aligns with the received signal.		A [[wikipedia:Servomotor\|servo motor]] is a motor/control board combination integrated circuit that takes a control signal and actuates to a position within its range of movement that aligns with the received signal.

	The "Servo Motor" IO Unit allows the RoboPad to send PWM drive signals that a servo motor can interpret. While the control signal provided by the RoboPad is at 3.3v and as such should work fine under most common servos, they will require their own power supply - some servos accept a range of input voltages and will be suitable to power directly from your robot's power source (such as a battery), but others will require power circuitry to ensure that you are providing them a safe and expected voltage. '''Always refer to your motor's manual and/or technical information and verify that it will work with the rest of your electrical circuit.'''		The "Servo Motor" IO Unit allows the RoboPad to send PWM drive signals that a servo motor can interpret. While the control signal provided by the RoboPad is at 3.3v and as such should work fine under most common servos, they will require their own power supply - some servos accept a range of input voltages and will be suitable to power directly from your robot's power source (such as a battery), but others will require power circuitry to ensure that you are providing them a safe and expected voltage. In a similar vein, make sure that you can provide the appropriate voltage and currant to your servo motor. The ''5v'' output pin of the RoboPad is only rated up to 500mA (and it already powers the built-in Dual H-Bridge), and many servos will require either a higher voltage or draw a higher current, which could damage the board. '''Always refer to your motor's manual and/or technical information and verify that it will work with the rest of your electrical circuit.'''

	* '''Name''': The name of this servo motor, basically only changes the name of the motor input port on the Chip Node.		* '''Name''': The name of this servo motor, basically only changes the name of the motor input port on the Chip Node.
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	==== Digital Output ====		==== Digital Output ====
	[[File:Digital Output 2023-02-22.png\|right\|frameless\|410x410px]]		[[File:Digital Output 2023-02-22.png\|right\|frameless\|410x410px]]
	The simplest IO Unit actuator, the "Digital Out" IO Unit sets a physical pin as a binary digital output, similar to those you might find on an [https://reference.arduino.cc/reference/en/language/functions/digital-io/digitalwrite/ arduino]. As a control signal comes into the IO Unit via the nodegraph, if the value is over 0.5 then a logical high (at 3.3 volts) is sent out of the selected pin, if the value is below 0.5 then a logical low (at 0 volts) is sent out of the selected pin.		The simplest IO Unit actuator, the "Digital Out" IO Unit sets a physical pin as a binary digital output, similar to those you might find on an [https://reference.arduino.cc/reference/en/language/functions/digital-io/digitalwrite/ arduino]. As a control signal comes into the IO Unit via the nodegraph, if the value is over 0.5 then a logical high (at 3.3 volts) is sent out of the selected pin, if the value is below 0.5 then a logical low (at 0 volts) is sent out of the selected pin. When you are driving external devices (such as LEDs, motors, etc), remember that the pins can only drive a small current (chip specifications recommend ~12mA source, ~20mA sink) so you may want to use a [[wikipedia:Transistor\|transistor]] to drive heavier loads.

	* '''Name''': The name of this digital output, basically only changes the name of the input port on the Chip Node.		* '''Name''': The name of this digital output, basically only changes the name of the input port on the Chip Node.
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	==== PWM Output ====		==== PWM Output ====
	[[File:PWM Output IO Unit.png\|right\|frameless\|410x410px]]		[[File:PWM Output IO Unit.png\|right\|frameless\|410x410px]]
	The "PWM Output" IO Unit sets a physical pin as a PWM pseudo-analog output, similar to those you can configure on an [https://docs.arduino.cc/learn/microcontrollers/analog-output arduino]. As the signal (between 0 and 1) comes into the IO Unit via the nodegraph, the value is then ouput as a PWM signal from the RoboPad "between" 0 and 3.3 volts.		The "PWM Output" IO Unit sets a physical pin as a PWM pseudo-analog output, similar to those you can configure on an [https://docs.arduino.cc/learn/microcontrollers/analog-output arduino]. As the signal (between 0 and 1) comes into the IO Unit via the nodegraph, the value is then ouput as a PWM signal from the RoboPad "between" 0 and 3.3 volts. When you are driving external devices (such as LEDs, motors, etc), remember that the pins can only drive a small current (chip specifications recommend ~12mA source, ~20mA sink) so you may want to use a [[wikipedia:Transistor\|transistor]] to drive heavier loads.

	* '''Name''': The name of this PWM output, basically only changes the name of the input port on the Chip Node.		* '''Name''': The name of this PWM output, basically only changes the name of the input port on the Chip Node.

WikiSysop: Protected "IO Config Editor" ([Edit=Allow only administrators] (indefinite) [Move=Allow only administrators] (indefinite))

2023-02-26T01:53:35Z

Protected "IO Config Editor" ([Edit=Allow only administrators] (indefinite) [Move=Allow only administrators] (indefinite))

← Older revision	Revision as of 01:53, 26 February 2023
(No difference)

Blayze: Fixed links

2023-02-25T23:53:11Z

Fixed links

← Older revision		Revision as of 23:53, 25 February 2023
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	'''''<u>NOTICE: This page consists of information on a feature currently in [[Beta]]. Information is liable to change or be incomplete.</u>'''''		'''''<u>NOTICE: This page consists of information on a feature currently in [[Beta]]. Information is liable to change or be incomplete.</u>'''''

	The Input/Output (IO) Configuration Editor page is the page where you can edit the physical IO configuration of the RoboPad board by configuring '''IO Units'''. You can, for instance, set one of the [[:File:Screenshot from 2022-11-06 23-38-46.png\|external pins]] to output a digital electronic signal, which can be controlled via the [[Nodegraph Editor\|nodegraph]]. It is accessible via the [[Management Page\|Management Page.]]		The Input/Output (IO) Configuration Editor page is the page where you can edit the physical IO configuration of the RoboPad board by configuring '''IO Units'''. You can, for instance, set one of the [[:File:Screenshot from 2022-11-06 23-38-46.png\|external pins]] to output a digital electronic signal, which can be controlled via the [[Nodegraph Editor\|nodegraph]]. It is accessible via the [[The Management Page\|Management Page.]]
	[[File:The default IO Configuration Editor page 2023-02-19.png\|thumb\|The default IO Configuration Editor page as of 2023-02-19]]		[[File:The default IO Configuration Editor page 2023-02-19.png\|thumb\|The default IO Configuration Editor page as of 2023-02-19]]
	Each '''IO Unit''' has a number of settings and will add it's own input and output ports to the [[Chip Node]] in the [[Nodegraph Editor\|nodegraph]]. Importantly, for actuators, you are able to specify '''safe values''' - these are the values that the IO Unit will default to when the RoboPad looses connection to your phone or you are on any screen other than the controller screen (it's [[~~The emergency stop state\|~~emergency stop state]]). It is very important that you understand how your safe values and IO Units in general interact with the physical circuitry you have added to your RoboPad - for instance, if you are adding an additional motor to your robot using a Generic PWM IO Unit, you will most likely want to ensure that it's safe value is set to 0 so that it will turn off in an emergency situation. Some IO Units do not have safe value settings (such as HBridge motors and unidirectional brushless motors) as all of these configurations are configured to turn off by default.		Each '''IO Unit''' has a number of settings and will add it's own input and output ports to the [[Chip Node]] in the [[Nodegraph Editor\|nodegraph]]. Importantly, for actuators, you are able to specify '''safe values''' - these are the values that the IO Unit will default to when the RoboPad looses connection to your phone or you are on any screen other than the controller screen (it's [[emergency stop state]]). It is very important that you understand how your safe values and IO Units in general interact with the physical circuitry you have added to your RoboPad - for instance, if you are adding an additional motor to your robot using a Generic PWM IO Unit, you will most likely want to ensure that it's safe value is set to 0 so that it will turn off in an emergency situation. Some IO Units do not have safe value settings (such as HBridge motors and unidirectional brushless motors) as all of these configurations are configured to turn off by default.

Blayze: /* Built-in H-Bridge Motor */ Clarifies expected nodegraph values.

2023-02-24T15:34:17Z

Built-in H-Bridge Motor: Clarifies expected nodegraph values.

← Older revision		Revision as of 15:34, 24 February 2023
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	==== Built-in H-Bridge Motor ====		==== Built-in H-Bridge Motor ====
	[[File:Built-in H-Bridge Motor 2023-02-20-b.png\|right\|frameless\|410x410px\|The Built-In H-Bridge Motor IO Unit UI]]The "Built-in H-Bridge Motor" IO unit is a specialised version of the "H-Bridge Motor" above, specifically designed to work only with the two built-in H-Bridges on the RoboPad, allowing you to select motors to be attached to the ''M1'' and ''M2'' pin pairs on the board. By default, two of these are configured, one for M1 and one for M2. When in the [[emergency stop state]], these IO Units attempt to send a stop signal to any attached motors, not powering any associated pins.		[[File:Built-in H-Bridge Motor 2023-02-20-b.png\|right\|frameless\|410x410px\|The Built-In H-Bridge Motor IO Unit UI]]The "Built-in H-Bridge Motor" IO unit is a specialised version of the "H-Bridge Motor" above, specifically designed to work only with the two built-in H-Bridges on the RoboPad, allowing you to select motors to be attached to the ''M1'' and ''M2'' pin pairs on the board. By default, two of these are configured, one for M1 and one for M2. When in the [[emergency stop state]], these IO Units attempt to send a stop signal to any attached motors, not powering any associated pins. Just as in the "H-Bridge Motor" IO Unit, the nodegraph is expected to supply a value between 0 and 1 to this IO Unit's input port, where 0 is maximum reverse rotation, 0.5 is stationary and 1 is maximum forward rotation.
	* '''Name''': The name of this HBridge motor, basically only changes the name of the motor input port on the Chip Node.		* '''Name''': The name of this HBridge motor, basically only changes the name of the motor input port on the Chip Node.
	* '''Built-in Motor''': Which of the two built-in motor pins this H-Bridge Motor IO Unit references - M1 connects to the M1 pins, M2 to the M2 pins.		* '''Built-in Motor''': Which of the two built-in motor pins this H-Bridge Motor IO Unit references - M1 connects to the M1 pins, M2 to the M2 pins.

← Older revision		Revision as of 02:35, 10 March 2023
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	[[File:H-Bridge Motor IO Unit Screenshot 2023-2-20.png\|right\|frameless\|410x410px]]A [[wikipedia:H-bridge\|H-Bridge]] is a simple, common circuit that can control the polarity of electricity to an attached electrical component - commonly a motor. In practice this means that a typical brushed DC motor's direction and speed can be controlled from one using two control signals. While you can make one yourself [https://www.robotroom.com/BipolarHBridge.html using transistors] (that site also has a [https://www.robotroom.com/DPDT-Bidirectional-Motor-Switch.html useful example] using switches which might make the concept easier to understand too), they often come in integrated circuit (IC) form factors, such as the Texas Instruments ''L293D'', which packs two H-bridges and comes bundled with some additional features.		[[File:H-Bridge Motor IO Unit Screenshot 2023-2-20.png\|right\|frameless\|410x410px]]A [[wikipedia:H-bridge\|H-Bridge]] is a simple, common circuit that can control the polarity of electricity to an attached electrical component - commonly a motor. In practice this means that a typical brushed DC motor's direction and speed can be controlled from one using two control signals. While you can make one yourself [https://www.robotroom.com/BipolarHBridge.html using transistors] (that site also has a [https://www.robotroom.com/DPDT-Bidirectional-Motor-Switch.html useful example] using switches which might make the concept easier to understand too), they often come in integrated circuit (IC) form factors, such as the Texas Instruments ''L293D'', which packs two H-bridges and comes bundled with some additional features.

	Using this IO Unit, the RoboPad will send drive signals suitable for use with a H-bridge through the specified pins (''PinA'' and ''PinB''). It's emergency stop state is to stop all signals and power down associated pins. The nodegraph is expected to supply a value between 0 and 1 to this IO Unit's input port, where 0 is maximum reverse rotation, 0.5 is stationary and 1 is maximum forward rotation.		Using this IO Unit, the RoboPad will send drive signals suitable for use with a H-bridge through the specified pins (''PinA'' and ''PinB''). It's emergency stop state is to stop all signals and power down associated pins. The nodegraph is expected to supply a value between 0 and 1 to this IO Unit's input port, where 0 is maximum reverse rotation, 0.5 is stationary and 1 is maximum forward rotation. This IO Unit creates an output port (labeled "<name> armed") on the Chip Node that signals high (1) when a control signal has been passed to it that would place it into it's safe state.
	* '''Name''': The name of this HBridge motor, basically only changes the name of the motor input port on the Chip Node.		* '''Name''': The name of this HBridge motor, basically only changes the name of the motor input port on the Chip Node.
	* '''Pin A''': One of the two directional signals needed by H-Bridge chips.		* '''Pin A''': One of the two directional signals needed by H-Bridge chips.
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	==== Built-in H-Bridge Motor ====		==== Built-in H-Bridge Motor ====
	[[File:Built-in H-Bridge Motor 2023-02-20-b.png\|right\|frameless\|410x410px\|The Built-In H-Bridge Motor IO Unit UI]]The "Built-in H-Bridge Motor" IO unit is a specialised version of the "H-Bridge Motor" above, specifically designed to work only with the two built-in H-Bridges on the RoboPad, allowing you to select motors to be attached to the ''M1'' and ''M2'' pin pairs on the board. By default, two of these are configured, one for M1 and one for M2. When in the [[emergency stop state]], these IO Units attempt to send a stop signal to any attached motors, not powering any associated pins. Just as in the "H-Bridge Motor" IO Unit, the nodegraph is expected to supply a value between 0 and 1 to this IO Unit's input port, where 0 is maximum reverse rotation, 0.5 is stationary and 1 is maximum forward rotation.		[[File:Built-in H-Bridge Motor 2023-02-20-b.png\|right\|frameless\|410x410px\|The Built-In H-Bridge Motor IO Unit UI]]The "Built-in H-Bridge Motor" IO unit is a specialised version of the "H-Bridge Motor" above, specifically designed to work only with the two built-in H-Bridges on the RoboPad, allowing you to select motors to be attached to the ''M1'' and ''M2'' pin pairs on the board. By default, two of these are configured, one for M1 and one for M2. When in the [[emergency stop state]], these IO Units attempt to send a stop signal to any attached motors, not powering any associated pins. Just as in the "H-Bridge Motor" IO Unit, the nodegraph is expected to supply a value between 0 and 1 to this IO Unit's input port, where 0 is maximum reverse rotation, 0.5 is stationary and 1 is maximum forward rotation. This IO Unit creates an output port (labeled "<name> armed") on the Chip Node that signals high (1) when a control signal has been passed to it that would place it into it's safe state.
	* '''Name''': The name of this HBridge motor, basically only changes the name of the motor input port on the Chip Node.		* '''Name''': The name of this HBridge motor, basically only changes the name of the motor input port on the Chip Node.
	* '''Built-in Motor''': Which of the two built-in motor pins this H-Bridge Motor IO Unit references - M1 connects to the M1 pins, M2 to the M2 pins.		* '''Built-in Motor''': Which of the two built-in motor pins this H-Bridge Motor IO Unit references - M1 connects to the M1 pins, M2 to the M2 pins.
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	A [[wikipedia:Brushless_DC_electric_motor\|brushless motor]] is a type of motor that uses many (usually three) electromagnetic circuits, pulsed in a specific sequence to generate a moving magnetic field - this field then "pulls" the motor's magnetised rotor with it, allowing for rotation without direct electrical contact (as is found in brushed motors, where metal brushes must transfer power directly to the rotor), resulting in motors that are less prone to wear and generally operate more smoothly and efficiently. The downside of this is that they require [[wikipedia:Electronic_speed_control\|electronic speed controllers (ESCs)]] to be driven, which are circuits containing microprocessors that power the motor's coils in the correct sequential pattern. These ESCs take in a control signal, and will often require an arming sequence before they start to energise the motor's coils.		A [[wikipedia:Brushless_DC_electric_motor\|brushless motor]] is a type of motor that uses many (usually three) electromagnetic circuits, pulsed in a specific sequence to generate a moving magnetic field - this field then "pulls" the motor's magnetised rotor with it, allowing for rotation without direct electrical contact (as is found in brushed motors, where metal brushes must transfer power directly to the rotor), resulting in motors that are less prone to wear and generally operate more smoothly and efficiently. The downside of this is that they require [[wikipedia:Electronic_speed_control\|electronic speed controllers (ESCs)]] to be driven, which are circuits containing microprocessors that power the motor's coils in the correct sequential pattern. These ESCs take in a control signal, and will often require an arming sequence before they start to energise the motor's coils.

	The "Unidirectional Brushless Motor" IO Unit allows the RoboPad to send drive signals (much as a traditional RC radio receiver would) suitable for reception by an ESC that can accept a PWM control signal, and will automatically send the configured arming sequence beforehand in order to initialise the ESC ready for motor control. Note that this only configures one pin as a control signal pin, and as such is designed to work with ''unidirectional'' brushless motor ESCs, i.e. ESCs that allow a single motor to be driven in a single direction at varying speeds. An incoming nodegraph signal of 0 results in the minimum microseconds signal being sent to the ESC, while an incoming nodegraph signal of 1 results in the maximum microseconds signal being sent to the ESC.		The "Unidirectional Brushless Motor" IO Unit allows the RoboPad to send drive signals (much as a traditional RC radio receiver would) suitable for reception by an ESC that can accept a PWM control signal, and will automatically send the configured arming sequence beforehand in order to initialise the ESC ready for motor control. Note that this only configures one pin as a control signal pin, and as such is designed to work with ''unidirectional'' brushless motor ESCs, i.e. ESCs that allow a single motor to be driven in a single direction at varying speeds. An incoming nodegraph signal of 0 results in the minimum microseconds signal being sent to the ESC, while an incoming nodegraph signal of 1 results in the maximum microseconds signal being sent to the ESC. This IO Unit creates an output port (labeled "<name> armed") on the Chip Node that signals high (1) when a control signal has been passed to it that would place it into it's safe state.

	* '''Name''': The name of this brushless motor, basically only changes the name of the motor input port on the Chip Node.		* '''Name''': The name of this brushless motor, basically only changes the name of the motor input port on the Chip Node.
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	A [[wikipedia:Servomotor\|servo motor]] is a motor/control board combination integrated circuit that takes a control signal and actuates to a position within its range of movement that aligns with the received signal.		A [[wikipedia:Servomotor\|servo motor]] is a motor/control board combination integrated circuit that takes a control signal and actuates to a position within its range of movement that aligns with the received signal.

	The "Servo Motor" IO Unit allows the RoboPad to send PWM drive signals that a servo motor can interpret. While the control signal provided by the RoboPad is at 3.3v and as such should work fine under most common servos, they will require their own power supply - some servos accept a range of input voltages and will be suitable to power directly from your robot's power source (such as a battery), but others will require power circuitry to ensure that you are providing them a safe and expected voltage. In a similar vein, make sure that you can provide the appropriate voltage and currant to your servo motor. The ''5v'' output pin of the RoboPad is only rated up to 500mA (and it already powers the built-in Dual H-Bridge), and many servos will require either a higher voltage or draw a higher current, which could damage the board. '''Always refer to your motor's manual and/or technical information and verify that it will work with the rest of your electrical circuit.'''		The "Servo Motor" IO Unit allows the RoboPad to send PWM drive signals that a servo motor can interpret. While the control signal provided by the RoboPad is at 3.3v and as such should work fine under most common servos, they will require their own power supply - some servos accept a range of input voltages and will be suitable to power directly from your robot's power source (such as a battery), but others will require power circuitry to ensure that you are providing them a safe and expected voltage. In a similar vein, make sure that you can provide the appropriate voltage and currant to your servo motor. The ''5v'' output pin of the RoboPad is only rated up to 500mA (and it already powers the built-in Dual H-Bridge), and many servos will require either a higher voltage or draw a higher current, which could damage the board. '''Always refer to your motor's manual and/or technical information and verify that it will work with the rest of your electrical circuit.''' This IO Unit creates an output port (labeled "<name> armed") on the Chip Node that signals high (1) when a control signal has been passed to it that would place it into it's safe state.

	* '''Name''': The name of this servo motor, basically only changes the name of the motor input port on the Chip Node.		* '''Name''': The name of this servo motor, basically only changes the name of the motor input port on the Chip Node.
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	==== Digital Output ====		==== Digital Output ====
	[[File:Digital Output 2023-02-22.png\|right\|frameless\|410x410px]]		[[File:Digital Output 2023-02-22.png\|right\|frameless\|410x410px]]
	The simplest IO Unit actuator, the "Digital Out" IO Unit sets a physical pin as a binary digital output, similar to those you might find on an [https://reference.arduino.cc/reference/en/language/functions/digital-io/digitalwrite/ arduino]. As a control signal comes into the IO Unit via the nodegraph, if the value is over 0.5 then a logical high (at 3.3 volts) is sent out of the selected pin, if the value is below 0.5 then a logical low (at 0 volts) is sent out of the selected pin. When you are driving external devices (such as LEDs, motors, etc), remember that the pins can only drive a small current (chip specifications recommend ~12mA source, ~20mA sink) so you may want to use a [[wikipedia:Transistor\|transistor]] to drive heavier loads.		The simplest IO Unit actuator, the "Digital Out" IO Unit sets a physical pin as a binary digital output, similar to those you might find on an [https://reference.arduino.cc/reference/en/language/functions/digital-io/digitalwrite/ arduino]. As a control signal comes into the IO Unit via the nodegraph, if the value is over 0.5 then a logical high (at 3.3 volts) is sent out of the selected pin, if the value is below 0.5 then a logical low (at 0 volts) is sent out of the selected pin. When you are driving external devices (such as LEDs, motors, etc), remember that the pins can only drive a small current (chip specifications recommend ~12mA source, ~20mA sink) so you may want to use a [[wikipedia:Transistor\|transistor]] to drive heavier loads. This IO Unit creates an output port (labeled "<name> armed") on the Chip Node that signals high (1) when a control signal has been passed to it that would place it into it's safe state.

	* '''Name''': The name of this digital output, basically only changes the name of the input port on the Chip Node.		* '''Name''': The name of this digital output, basically only changes the name of the input port on the Chip Node.
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	==== PWM Output ====		==== PWM Output ====
	[[File:PWM Output IO Unit.png\|right\|frameless\|410x410px]]		[[File:PWM Output IO Unit.png\|right\|frameless\|410x410px]]
	The "PWM Output" IO Unit sets a physical pin as a PWM pseudo-analog output, similar to those you can configure on an [https://docs.arduino.cc/learn/microcontrollers/analog-output arduino]. As the signal (between 0 and 1) comes into the IO Unit via the nodegraph, the value is then ouput as a PWM signal from the RoboPad "between" 0 and 3.3 volts. When you are driving external devices (such as LEDs, motors, etc), remember that the pins can only drive a small current (chip specifications recommend ~12mA source, ~20mA sink) so you may want to use a [[wikipedia:Transistor\|transistor]] to drive heavier loads.		The "PWM Output" IO Unit sets a physical pin as a PWM pseudo-analog output, similar to those you can configure on an [https://docs.arduino.cc/learn/microcontrollers/analog-output arduino]. As the signal (between 0 and 1) comes into the IO Unit via the nodegraph, the value is then ouput as a PWM signal from the RoboPad "between" 0 and 3.3 volts. When you are driving external devices (such as LEDs, motors, etc), remember that the pins can only drive a small current (chip specifications recommend ~12mA source, ~20mA sink) so you may want to use a [[wikipedia:Transistor\|transistor]] to drive heavier loads. This IO Unit creates an output port (labeled "<name> armed") on the Chip Node that signals high (1) when a control signal has been passed to it that would place it into it's safe state.

	* '''Name''': The name of this PWM output, basically only changes the name of the input port on the Chip Node.		* '''Name''': The name of this PWM output, basically only changes the name of the input port on the Chip Node.