User guide

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Motor Driver Board
Two motor driver boards are used, one for the left and right track/wheel motors while the other one is for the
arm-tack motors.
Input power H-Bridge 2 channels
Max current up to 25A continuous power per channel, peak up to 50A per channel for a few seconds
Input voltage 6~24V, 30V absolute max
Motion and Sensing Controller
This is a special version of PMS5005 board.
Input power 5V
6 PWM output Channel 0,1 for left and right arm-track
Channel 3,4 for left and right track/wheel
Motor control mode PWM control; Velocity control; Position control
Sensor sampling 4 Channel encoder: Channel 0,1 for left and right arm-track
Channel 3,4 for left and right track/wheel
Board voltage measuring
Battery voltage measuring
4 motor temperature measuring
Other extended A/D channels (please contact Dr Robot).
Camera
Input power 5V
Lens 4.4 mm: 47° view*, F2.0, fixed iris, fixed focus
Light sensitivity 1-10000 lux, F2.0
0 lux with headlights LED on
Resolutions 640x480 to 160x120
Frame rate H.264: 30 fps in all resolutions
Motion JPEG: 30 fps in all resolutions
PEG-4 Part 2: 30 fps in all resolutions
Video compression H.264 (MPEG-4 Part 10/AVC), Motion JPEG
MPEG-4 Part 2 (ISO/IEC 14496-2)
Audio streaming Two-way
Other features PIR motion sensor with configurable sensitivity. Max range: 6 m
GPS
Input power 5V
Update rate 5 Hz
Sensitivity - 185dBW minimum
Accuracy Standard GPS service: Position: <= 15m 95% typical
Velocity: 0.1knot RMS steady state
WAAS service: Position: <= 3m 95% typical
Output Interface NMEA 0183, default GPRMC/GPGGA/GPGSA/GPVTG