FootSensors V2​

A project log for SmallKat: An adorable dynamics oriented robot cat

A dynamics oriented quadruped for research and education. Smallkat comes in 3 sizes and 2 different control configurations.

keionbiskeionbis 04/24/2019 at 21:490 Comments

Iterations are inevitable. Since we have taken to developing this cat full force we decided the easiest way to go about the foot sensors is to revise them from using their SPI protocol to making them as simple as possible by returning an analog voltage between 0 and 3.3 volts. So as can be seen here, the new DPS310 barometric pressure sensor resides in the middle of the board and to its right exists an stm32l011f4 micro controller(programmed through pads for pogo pins on the back for easy mass programming) that returns the equivalent value from the 24bit sensor as an analog voltage through the PWM port. This PWM signal is then filtered through an RC filter and comes out of the connector on the back of the board as an equivalent voltage. The pressure sensor data is therefore down resed from its original 24bit to 16 bit, however this is shill more than good enough for our application.