Description
OpenCR1.0 is developed for ROS embedded systems to provide completely open-source hardware and software.
Everything about the board; Schematics, PCB Gerber, BOM and the firmware source code for the TurtleBot3 and OP3 are free to distribute under open-source licenses for users and the ROS community.
The STM32F7 series chip inside the OpenCR1.0 board is based on a very powerful ARM Cortex-M7 with floating point unit.
The development environment for OpenCR1.0 is wide open from Arduino IDE and Scratch for young students to traditional firmware development for the expert.
Features
| Microcontroller | STM32F746ZGT6 / 32-bit ARM Cortex®-M7 with FPU (216MHz, 462DMIPS) |
|---|---|
| Sensors | Gyroscope 3Axis, Accelerometer 3Axis, Magnetometer 3Axis (MPU9250) |
| Programmer | ARM Cortex 10pin JTAG/SWD connector USB Device Firmware Upgrade (DFU) Serial |
| Extension pins | 32 pins (L 14, R 18) *Arduino connectivity Sensor module x 4 pins Extension connector x 18 pins |
| Communication circuits | USB (Micro-B USB connector/USB 2.0/Host/Peripheral/OTG) TTL (B3B-EH-A / Dynamixel) RS485 (B4B-EH-A / Dynamixel) UART x 2 (20010WS-04) CAN (20010WS-04) |
| LEDs and buttons | LD2 (red/green) : USB communication User LED x 4 : LD3 (red), LD4 (green), LD5 (blue) User button x 2 |
| Powers | External input source 5 V (USB VBUS), 7-24 V (Battery or SMPS) Default battery : LI-PO 11.1V 1,800mAh 19.98Wh Default SMPS : 12V 5A External output source 12V@1A(SMW250-02), 5V@4A(5267-02A), 3.3V@800mA(20010WS-02) External battery Port for RTC (Real Time Clock) (Molex 53047-0210) Power LED: LD1 (red, 3.3 V power on) Reset button x 1 (for power reset of board) Power on/off switch x 1 |
| Dimensions | 105(W) X 75(D) mm |
| Mass | 60g |
Resources
- e-Manual : http://emanual.robotis.com/docs/en/parts/controller/opencr10/
- Drawing
- Software
- Arduino IDE (GitHub)
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