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.