Soldier Hardware Block Diagram
The hardware we use for the soldier, the robot whose control code is being featured in this repository, is relatively simple. Currently, many components are RoboMaster specific products, with the exception our vision system.
The two controller area networks (CAN) are utilized for primary motor control. The following table shows the can IDs for motors specified in the block diagram below
| Motor Number | CAN ID | Motor Name |
|---|---|---|
| 1 | 0x201 | Left friction wheel motor |
| 2 | 0x202 | Right friction wheel motor |
| 5 | 0x205 | Yaw gimbal |
| 6 | 0x206 | Pitch gimbal |
| 7 | 0x207 | Agitator motor |
| Motor Number | CAN ID | Motor Name |
|---|---|---|
| 1 | 0x201 | Right front chassis drive motor |
| 2 | 0x202 | Left front chassis drive motor |
| 3 | 0x203 | Left back chassis drive motor |
| 4 | 0x204 | Right back chassis drive motor |
Below is a high level hardware block diagram of the soldier.
- Add integration with a capacitor bank.
- Add support for a periphery control board that communicates via CAN. This will be useful for larger robots with GPIO devices that are far away from the main control board.