TORP Boards

In order to make it possible to implement the TORP Specification Set, we developed a set of boards (that we called TORP boards). This first generation of boards was developed based on the Verdex Pro XM4 boards, from Gumstix line, which is the smallest available computer (8g weight) able to run linux operational system. These boards make it possible to interact with our sensors and actuators. In this page you will find a quick description of these boards and some documentation. The full project of all boards can be found in our repositories in the Proteus Ares 7.2 format. You are completely free to replicate these boards with non-profit purposes, or you can join us to improve these boards to next robots versions. We would like to publicly thank Micropress for the precious support in the manufacturing of these boards.

TB1 - General Controller Board

TB1 is the general controller board. It contains a Hirose 60-pin connector that extends the capabilities of the Gumstix Verdex Pro to use with specific sensors and actuators of a TORP robot. It is directly connected to the Verdex. In current version (1.3), this board has the interface to the following devices: Dynamixel RX-64 servomotors, Dynamixel AX-12 servomotors, 02 PWM servomotors, 01 USB device, 02 OLEDs, 02 High Bright Led (TB4), 01 RGB Matrix (TB3), 01 Magnetic Compass, 08 Sonars and 08 IR Sensors.



The 60-pin Hirose connector has the following use in TB1:

Pin	GPIO	Function	Function	GPIO	Pin
1		GND	GND		60
2	GPIO(67)	Direction RX-64	USB D-		59
3	GPIO(77)	Reset L-R OLED		GPIO(28)	58
4	GPIO(61)	TX R_OLED	Self-test Accelerometer	GPIO(76)	57
5	GPIO(30)	TX L_OLED		GPIO(73)	56
6	GPIO(66)	RX R_OLED		GPIO(72)	55
7		GND	RX RX-64	GPIO(34)	54
8	GPIO(71)	LE RGB_MATRIX	DMUX_SONAR	GPIO(65)	53
9	GPIO(70)	CLK RGB_MATRIX	ADD2 SONAR	GPIO(63)	52
10	GPIO(69)	SIGNAL RGB_MATRIX	ADD1 SONAR	GPIO(68)	51
11		USB D+	ADD0 SONAR	GPIO(59)	50
12	GPIO(46)	LE HB_L_LED		GPIO(113)	49
13	GPIO(60)	LE HB_R_LED		GPIO(47)	48
14	GPIO(100)		/CS ACEL	GPIO(62)	47
15	GPIO(9)		RX L_OLED	GPIO(31)	46
16	GPIO(75)	STRB A/D	DOUT ACEL	GPIO(11)	45
17	GPIO(17)	L_EYEBROW PWM1		GPIO(14)	44
18	GPIO(58)	DATA AX-12		GPIO(29)	43
19	GPIO(118)	CLK HIGH_BRIGHT_R_LED	GND		42
20	GPIO(117)	SIGNAL HIGH_BRIGHT_R_LED		GPIO(74)	41
21	GPIO(19)	CLK ACEL		GPIO(64)	40
22	GPIO(87)	CLK HIGH_BRIGHT_L_LED		GPIO(27)	39
23	GPIO(13)	DIN ACEL		GPIO(101)	38
24	GPIO(41)	SIGNAL HIGH_BRIGHT_L_LED	N_MANUAL_RESET		37
25	GPIO(2)		R_EYEBROW PWM0	GPIO(16)	36
26	GPIO(39)	TX RX-64		GPIO(43)	35
27	GPIO(86)		ADD2 IR	GPIO(45)	34
28		V_BATT	ADD1 IR	GPIO(42)	33
29		V_BATT	ADD0 IR	GPIO(44)	32
30		V_BATT	GND		31

TB2 - Regulation Board

TB2 is the power regulation board. It provides different powering sources for the TB1. It is connected to TB1 through standard connectors and it is linked to the robot main source of power.

TB3 - Led Matrix Controller Board

TB3 is the Led matrix controlling board. It drives a led matrix that represents the mouth. It is connected to TB1.

TB4 - High Bright Led Controller

TB4 is the High Bright led controller. It can control a high bright RGB led. The Led should be a common anode in other to the system work properly. It is connected to TB1.

TB5 - Sonar Controller

TB5 is the sonar sensor controller. It is connected to TB1.

TB6 - RS232/TTL Converter Board

TB6 is the RS-232/TTL converter board. It is connected to TB1.

---