OpenRE Board User Manual
The OpenRE Board is a motion controller developed by the HandsFree Team based on the hardware standards of the HandsFree Open Source Project. It is an integral part of the HandsFree platform and can be used for wheeled robots, humanoid robots, balance bikes, rotors and fixed wing development.
Since HandsFree has established its own mechanical, circuitry, and embedded standards, the OpenRE Board will also support subsequent hardware and software developed by the HandsFree Team. You can either use this controller for your own development, or you can use the HandsFree embedded software library OpenRE to develop it. OpenRE provides enough underlying driver code and robot code libraries, as well as manuals and test cases for the code, and all source code is open source.
Download OpenRE source code: OpenRE source code Learn OpenRE: OpenRE Tutorial
OpenRE Board User's Manual
The OpenRE Board controller is a multi-purpose controller developed on the basis of the first generation of the main control, which can be used not only for controlling ground mobile platforms such as carts, but also for controlling flying machines. input.
Professional robot controller OpenRE Board
OpenRE Board! OpenRE_Board
On-board resources
Key Features
- 168MHZ STM32F407 Cortex M4
- on-board 3-axis gyroscope, 3-axis accelerometer, barometer, 3-axis magnetometer.
- 10PWM input and output.
- USBTTL, USB, microSD card. 5.
- Support models: two-wheel balance bike, two-wheel differential mobile platform, three-wheel omnidirectional platform, four-wheel differential platform, four-wheel McNamee wheel omnidirectional platform, digital servo humanoid, fixed-wing, four-six eight-axis rotorcraft, etc.
Processor
- 32bit STM32F407 VGT6 Cortex M4 core with FPU
- 168MHZ
- 192KB SRAM 1M Flash
- Package type: LQFP, Number of pins: 100
On-board sensors
- MPU6050 6-axis motion processing, accelerometer gyroscope. 2.
- MEAS MS5611 high precision barometer.
- 3-axis digital compass IC HMC5883L
On-board IC
- Large capacity IIC fast memory 512KB EEPROM
- Dedicated ADC reference voltage chip LM4030A, high voltage sampling accuracy, can be connected to the fixed wing with the airspeed meter.
- On-board 5V, 3A high current regulator IC.
- Integrated CP2102 USB serial port chip.
- Integrated VP230 CAN control chip. 6.
- Integrated tri-state gate IC for digital servo communication
- On-board multi-power protection device, anti-reverse connection, anti-overcurrent, anti-static, support multiple USB and power supply at the same time.
- On-board SBUS inverter circuit to support remote control signal reading.
On-board interface
- Four motor control as well as encoder interfaces, supporting common types of robot platform control.
- 10 PWM outputs, which can be used as inputs simultaneously for building multi-axis aircraft or servo control.
- three serial ports, USART2 UART4 USART6. 4.
- one USB serial port USART1. 5.
- one USB master-slave interface. 6. one microSD card interface.
- one microSD card interface. 7.
- One SBUS remote control acquisition interface, used to acquire the signal of the model remote control.
- a PPM remote control acquisition interface, used to acquire the signal of the model remote control, the PPM interface can also be used to extend the airspeed meter.
- a digital servo control interface, supporting AX12 series digital servos.
- a GPS interface, support external IIC gyroscope and magnetometer, compatible with PX4 interface. 11 A CAN bus interface, can be used for communication network.
- one IIC interface, can be used to expand external inertial guidance sensors or ultrasonic, etc.
- one SPI interface. 14. In addition to the above, there are multiple led displays, a buzzer, SWD burn-in, reset circuit, power supply voltage acquisition circuit, etc. 15.
- power supply supports 7~28V input.
Summary
HandsFree controller, the on-board resources are very rich, full of material, can meet the common form of robot research needs, while not shy of cost, try to choose a stable and reliable interface and IC, just an ADC reference voltage chip is more than ten dollars, MOLEX interface is also the choice of expensive self-locking interface, mainly because the HandsFree team itself is also using this This is mainly because the HandsFree team is also using this controller for research and development, and many details are considered to meet their own needs.
OpenRE supports development in linux environment, which is very convenient for ROS developers and robot developers who don't know embedded.
OpenRE Board Mini User's Manual
OpenRE Board Mini is a motion controller developed by the HandsFree Team according to the hardware standards of the HandsFree open source project and is an important part of the HandsFree Mini mobile platform, a learning platform developed by the HandsFree Team specifically for robotics students. The Mini Mobile Platform can also be used for mobile navigation and vision development. We have integrated the driver into the Mini controller based on the characteristics of the Mini mobile platform. It has a complete set of features with a very high cost performance, and the easy-to-use embedded code is loved by the majority of student users.
The OpenRE Board Mini controller supports 12V power input and also allows transferring the power supply with two 12V power adapters to allow transferring to other devices.The Mini controller is equipped with a power switch, press the switch when the 12V power is on and the main controller will start working, then the power indicator will become bright. The control board is surrounded by four motor interfaces, two serial ports, one SPI interface, one serial usb interface, one SWD interface, and one can bus interface. At the same time the control board integrated two motor driver (support driving four motors), a MPU6050, a Bluetooth, greatly facilitate the user to develop.
Cost-effective robot controller OpenRE_Board_Mini
Onboard Resources
On-board resources
- STM32F103 chip
- mpu6050 accelerometer gyroscope
- 4 way motor control interface: support HandsFree Team developed motor driver, can be used to carry HandsFree balance bike, HandsFree Mini mobile platform.
- 1 way can bus: 1 can interface on board, can be used for communication, or expand hands free imu high precision single axis gyroscope
- 1 way spi interface
- 1 way dual-seat USB female interface: provide adapter 5V power supply
- 2 serial interface: usart4 uart5 8 a usb serial port: using ft232 usb serial chip usart4, can usb line upgrade firmware and communication
- 1 swd program burner interface
- 1 bluetooth