Husarion CORE2-ROS controller

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.

Electrical specification

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/

Ports used in Leo Rover

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)

Additional 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.