Accesories

2 accessories compatible with the EMeRGE robotic platform have been manufactured. An ultrasound sensor to measure the distance between the robot and the obstacle and an Xbee module to connect to the PC.

Both accessories have an identical PCB design, however, the PSOC architecture allows modifying the communication protocol with the device, the accepted protocols are; SERIAL, I2C and Analog signals (0-5V). The information that comes from the device is encoded and sent via the CAN bus to the controller. The data packages are indicated inside the code so that they can be edited in case of changing the accessory.

In the repository is the code to handle the XBEE and the ultrasound sensor SRF01.

The accessories in the lower part have 4 pins on a male face to communicate with the robotic structure. These can be located in any module.