EVC Autonomous - Electrical

Autonomous Project electrical stack code

Pins

• Rubik Pi 3 <-> nucleo-f446re: SPI2
  • SCK: PB10
  • NSS: PB12
  • MOSI: PC1
  • MISO: PC2
• Motor controller control: TIM2
  • Output: PA15
  • 1000-2000 microseconds pulse width (stop - full forward)
• Steering servo control: TIM3
  • Output: PA6
  • 1000-2000 microseconds pulse width (left - right)
• RC contactor/e-stop PWM input: TIM5
  • Input: PA0
  • >=1800 microseconds pulse width to close contactor
• GPIOs:
  • LD2: PA5
    • Output
    • On nucleo green LED
  • B1: PC13
    • Input: external interrupt mode on falling edge
    • On nucleuo button
  • CONTACTOR: PB8
    • Output: pull down
    • Set high to close contactor