BAL Battery Package 03 Hardware Manual - Revision history

Admin: /* 3-8 2x20 EPCS64 Device */

2021-05-24T09:35:49Z

3-8 2x20 EPCS64 Device

← Older revision		Revision as of 09:35, 24 May 2021
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	<div style="text-align:center;"> '''Figure 3‑12 USB Blaster II connector'''</div>		<div style="text-align:center;"> '''Figure 3‑12 USB Blaster II connector'''</div>
-	== 3-8 ~~2x20~~ EPCS64 Device ==	+	== 3-8 EPCS64 Device ==


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	<div style="text-align:center;"> '''Figure 3‑13 Set MSEL to AS mode'''</div>		<div style="text-align:center;"> '''Figure 3‑13 Set MSEL to AS mode'''</div>
		+
	== 3-9 Micro SD Card ==		== 3-9 Micro SD Card ==

Admin: /* Chpater1 Introduction */

2020-05-11T03:02:12Z

Chpater1 Introduction

← Older revision		Revision as of 03:02, 11 May 2020
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	= <span style="color:#000080;">Chpater1 Introduction</span> =		= <span style="color:#000080;">Chpater1 Introduction</span> =

-	~~The F2G board~~ is ~~designed to convert~~ a '~~''FPGA Mezzanine Card'''(FMC) interface to four 40~~-~~pin expansion prototype(GPIO) connectors~~, ~~which are compatible~~ with the ~~expansion headers~~ of the ~~Terasic DE~~-~~Series board(Such~~ as ~~DE2~~-~~115~~/~~DE10~~-~~Standard~~). ~~Users~~ can ~~connect~~ up to ~~four GPIO connectors onto a FMC-interfaced host board via a F2G board~~.	+	Terasic's Self-Balancing Robot is a multi-functional robot designed and manufacturered by Terasic robtic exeperts. Built on Terasic's DE10-Nano, a light-weighted SoC platform ideal for embedded solution, and equipped with the state-of-the-art control algorithm, the robot offers developers a perfect starting point to create their own robotic innovations.
		+
		+	This robot can perform posture recognition in real time through the acceleration sensor and the gyroscope, and achieve the balance by controlling the motors to adjust the posture. The Robot can implement attitude algorithm, perform motion control, and execute movements autonomously, such as moving forward, turning right & left, object following and obstacle avoidance.
		+
		+	Self-Balancing Robot equips Bluetooth/Wi-Fi module and IR Receiver, users can remote control robot by smartphone APP and IR remote controller.
		+
		+	There are many peripheral interfaces (Ethernet port, UART port, HDMI-TX port, GPIO connector, USB Blaster II port) on DE10-Nano board for customers development. Besides the hardware, the robot also includes open source examples. Based on the example codes, developers can quickly implement their application designs.
		+
		+	The robot is powered by three sections of lithium battery. If lithium battery starts charging when it is completely unable to supply the robot, it is expected to take up to 2 hours for fully charging.

	= <span style="color:#000080;">Chpater2 Key Boards of the Self-Balancing Robot</span> =		= <span style="color:#000080;">Chpater2 Key Boards of the Self-Balancing Robot</span> =

Admin: /* Chpater1 Introduction */

2020-05-11T03:01:09Z

Chpater1 Introduction

← Older revision		Revision as of 03:01, 11 May 2020
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	= <span style="color:#000080;">Chpater1 Introduction</span> =		= <span style="color:#000080;">Chpater1 Introduction</span> =

-	~~Terasic's Self-Balancing Robot~~ is a ~~multi-functional robot designed and manufacturered by Terasic robtic exeperts. Built on Terasic~~'~~s DE10~~-~~Nano~~, ~~a light-weighted SoC platform ideal for embedded solution, and equipped~~ with the ~~state-~~of-the-~~art control algorithm, the robot offers developers a perfect starting point to create their own robotic innovations.~~	+	The F2G board is designed to convert a '''FPGA Mezzanine Card'''(FMC) interface to four 40-pin expansion prototype(GPIO) connectors, which are compatible with the expansion headers of the Terasic DE-Series board(Such as DE2-115/DE10-Standard). Users can connect up to four GPIO connectors onto a FMC-interfaced host board via a F2G board.
-		+
-	This robot can perform posture recognition in real time through the acceleration sensor and the gyroscope, and achieve the balance by controlling the motors to adjust the posture. The Robot can implement attitude algorithm, perform motion control, and execute movements autonomously, such as ~~moving forward, turning right & left, object following and obstacle avoidance.~~	+
-		+
-	~~Self~~-~~Balancing Robot equips Bluetooth~~/Wi-~~Fi module and IR Receiver, users can remote control robot by smartphone APP and IR remote controller.~~	+
-		+
-	~~There are many peripheral interfaces (Ethernet port, UART port, HDMI-TX port, GPIO connector, USB Blaster II port~~) ~~on DE10-Nano board for customers development~~. ~~Besides the hardware, the robot also includes open source examples. Based on the example codes, developers~~ can ~~quickly implement their application designs.~~	+
-		+
-	~~The robot is powered by three sections of lithium battery. If lithium battery starts charging when it is completely unable to supply the robot, it is expected to take~~ up to ~~2 hours for fully charging~~.	+

	= <span style="color:#000080;">Chpater2 Key Boards of the Self-Balancing Robot</span> =		= <span style="color:#000080;">Chpater2 Key Boards of the Self-Balancing Robot</span> =

Admin: /* 4-6 Bluetooth and Wi-Fi Module */

2018-06-14T09:00:09Z

4-6 Bluetooth and Wi-Fi Module

← Older revision		Revision as of 09:00, 14 June 2018
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	ESP-WROOM-32 is a universal Wi-Fi/Bluetooth/BLE MCU module, it integrates traditional lower power consumption Bluetooth and Wi-Fi features, and has a wide range of uses: the Wi-Fi supports a wide range of communication and also supports connecting to internet directly via router; Bluetooth allows user to connect a cell phone or broadcast BLE Beacon to facilitate signal detection. The module provides several connectors like SPI/SDIO or I2C/UART that are connected to FPGA, as shown in Figure 4 -23, which allows user to communicate with other Wi-Fi or Bluetooth device quickly. The ESP32 module in the self-balancing robot, only UART port (board rate 115200) is used to be connected to the FPGA. Also, only Bluetooth protocol is used for wireless connection. If user want to use the ESP32 with different protocol. User need to re-configure the ESP32 module. Please refer to ESP32 datasheet for details. Table 4-4 describes the pin assignments for connection between ESP32 and FPGA.		ESP-WROOM-32 is a universal Wi-Fi/Bluetooth/BLE MCU module, it integrates traditional lower power consumption Bluetooth and Wi-Fi features, and has a wide range of uses: the Wi-Fi supports a wide range of communication and also supports connecting to internet directly via router; Bluetooth allows user to connect a cell phone or broadcast BLE Beacon to facilitate signal detection. The module provides several connectors like SPI/SDIO or I2C/UART that are connected to FPGA, as shown in Figure 4 -23, which allows user to communicate with other Wi-Fi or Bluetooth device quickly. The ESP32 module in the self-balancing robot, only UART port (board rate 115200) is used to be connected to the FPGA. Also, only Bluetooth protocol is used for wireless connection. If user want to use the ESP32 with different protocol. User need to re-configure the ESP32 module. Please refer to ESP32 datasheet for details. Table 4-4 describes the pin assignments for connection between ESP32 and FPGA.
		+	8

-		+	<div style="text-align:center;color:#ff0000;">[[Image: BAL_03_Hardware_Manual_pic_23.jpg\|800px]]</div>
-	<div style="text-align:center;color:#ff0000;">[[Image: BAL_03_Hardware_Manual_pic_23.jpg\|~~500px~~]]</div>	+

	<div style="text-align:center;"> '''Figure 4‑23 The connection between ESP32 and FPGA'''</div>		<div style="text-align:center;"> '''Figure 4‑23 The connection between ESP32 and FPGA'''</div>
		+

	<div style="text-align:center;margin-left:0cm;margin-right:0cm;"> '''Table 4‑4 Pin assignment between ESP32 and FPGA'''</div>		<div style="text-align:center;margin-left:0cm;margin-right:0cm;"> '''Table 4‑4 Pin assignment between ESP32 and FPGA'''</div>
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	\|}		\|}
	<span style="color:#ff0000;"><nowiki>*1：</nowiki></span><span style="color:#ff0000;">N</span><span style="color:#ff0000;">ote</span><span style="color:#ff0000;">, ESP32_CMD[8:0] I/Os are reserved for user to set other </span> <span style="color:#ff0000;">protocol</span><span style="color:#ff0000;">. user can modify the setting in ESP-WROOM-32 and specify these I/Os as special connectors. </span>		<span style="color:#ff0000;"><nowiki>*1：</nowiki></span><span style="color:#ff0000;">N</span><span style="color:#ff0000;">ote</span><span style="color:#ff0000;">, ESP32_CMD[8:0] I/Os are reserved for user to set other </span> <span style="color:#ff0000;">protocol</span><span style="color:#ff0000;">. user can modify the setting in ESP-WROOM-32 and specify these I/Os as special connectors. </span>
		+
	== 4-7 Motion Tracking Device ==		== 4-7 Motion Tracking Device ==

Admin: /* Chpater1 Introduction */

2018-06-14T08:59:04Z

Chpater1 Introduction

← Older revision		Revision as of 08:59, 14 June 2018
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		+	<div style="text-align:center;"> [[Self_Balacing_Robot#Document\|'''Back''']] </div>
		+
	= <span style="color:#000080;">Chpater1 Introduction</span> =		= <span style="color:#000080;">Chpater1 Introduction</span> =
-
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	Terasic's Self-Balancing Robot is a multi-functional robot designed and manufacturered by Terasic robtic exeperts. Built on Terasic's DE10-Nano, a light-weighted SoC platform ideal for embedded solution, and equipped with the state-of-the-art control algorithm, the robot offers developers a perfect starting point to create their own robotic innovations.		Terasic's Self-Balancing Robot is a multi-functional robot designed and manufacturered by Terasic robtic exeperts. Built on Terasic's DE10-Nano, a light-weighted SoC platform ideal for embedded solution, and equipped with the state-of-the-art control algorithm, the robot offers developers a perfect starting point to create their own robotic innovations.
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	The robot is powered by three sections of lithium battery. If lithium battery starts charging when it is completely unable to supply the robot, it is expected to take up to 2 hours for fully charging.		The robot is powered by three sections of lithium battery. If lithium battery starts charging when it is completely unable to supply the robot, it is expected to take up to 2 hours for fully charging.
-
-

	= <span style="color:#000080;">Chpater2 Key Boards of the Self-Balancing Robot</span> =		= <span style="color:#000080;">Chpater2 Key Boards of the Self-Balancing Robot</span> =

Admin: /* Chpater5 Additional Information */

2018-06-14T08:58:46Z

Chpater5 Additional Information

← Older revision		Revision as of 08:58, 14 June 2018
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		+	<div style="text-align:center;"> </div>

-		+	<div style="text-align:center;"> [[Self_Balacing_Robot#Document\|'''Back''']] </div>
-		+
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-	<div style="text-align:center;"> </div>	+

Admin: Created page with "= Chpater1 Introduction = Terasic's Self-Balancing Robot is a multi-functional robot designed and manufacturered by Terasi..."

2018-06-14T08:57:25Z

Created page with "= <span style="color:#000080;">Chpater1 Introduction</span> = Terasic's Self-Balancing Robot is a multi-functional robot designed and manufacturered by Terasi..."

New page

= <span style="color:#000080;">Chpater1 Introduction</span> =

Terasic's Self-Balancing Robot is a multi-functional robot designed and manufacturered by Terasic robtic exeperts. Built on Terasic's DE10-Nano, a light-weighted SoC platform ideal for embedded solution, and equipped with the state-of-the-art control algorithm, the robot offers developers a perfect starting point to create their own robotic innovations.

This robot can perform posture recognition in real time through the acceleration sensor and the gyroscope, and achieve the balance by controlling the motors to adjust the posture. The Robot can implement attitude algorithm, perform motion control, and execute movements autonomously, such as moving forward, turning right & left, object following and obstacle avoidance.

Self-Balancing Robot equips Bluetooth/Wi-Fi module and IR Receiver, users can remote control robot by smartphone APP and IR remote controller.

There are many peripheral interfaces (Ethernet port, UART port, HDMI-TX port, GPIO connector, USB Blaster II port) on DE10-Nano board for customers development. Besides the hardware, the robot also includes open source examples. Based on the example codes, developers can quickly implement their application designs.

The robot is powered by three sections of lithium battery. If lithium battery starts charging when it is completely unable to supply the robot, it is expected to take up to 2 hours for fully charging.

= <span style="color:#000080;">Chpater2 Key Boards of the Self-Balancing Robot</span> =

This chapter briefly introduces the two main control boards DE10-Nano and Motor Driver Board on the Self-Balancing Robot.
== 2-1 Overview ==

The Self-Balancing Robot control system consist two boards, Terasic DE10-Nano SoC FPGA board and Motor Driver board (See Figure 2 -1).

<div style="text-align:center;color:#ff0000;"> [[Image: BAL_03_Hardware_Manual_pic_1.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 2‑1 DE10-Nano and Motor Driver Board'''</div>

DE10-Nano board is responsible for the entire Self-Balancing Robot control system, user can use the Nios system or ARM CPU to execute the robot balance algorithm and control other hardware on the robot through SoC FPGA.

Motor Driver board is responsible for receiving motor control signal from DE10-Nano board, and controlling the motor through the motor driver chip, besides, it receives control signal of Wi-Fi, Bluetooth and IR protocol, then transmits the signal to DE10-Nano for further processing. The motor driver board provides states data to DE10-Nano board via sensors, such as tilt angle of robot body, battery voltage and distance information from ultrasonic module.

Figure 2-2 shows the block diagram of the robot that uses Nios to control the robot system. Figure 2-3 shows the block diagram of the robot which use ARM CPU to control the robot system.

<div style="text-align:center;"> [[Image: BAL_03_Hardware_Manual_pic_2.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 2‑2 Block diagram of the robot that uses Nios control system'''</div>

<div style="text-align:center;">[[Image: BAL_03_Hardware_Manual_pic_3.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 2‑3 Block diagram of the robot that uses ARM CPU control system'''</div>

= <span style="color:#000080;">Chpater3 DE10-Nano Board </span> =

This chapter will introduce the main devices of the DE10-Nano on the Self-Balancing Robot.
== 3-1 Overview ==

Terasic DE10-Nano board presents a robust hardware design platform built around the Intel Cyclone V SoC FPGA, beside to being used as traditional FPGA, it also combines the dual-core Cortex-A9 processor and related controller. User can run Linux OS on DE10-Nano board, the board provides powerful control and communication ability. Designed with small size and lower power consumption, it is an excellent platform to develop portable applications. Figure 3-4 shows the DE10-Nano board layout, Figure 3-5 shows the system block diagram of DE10-Nano. User can refer to the following link for more detailed information about DE10-Nano board:

[http://www.terasic.com.tw/cgi-bin/page/archive.pl?Language=English&CategoryNo=167&No=1046&PartNo=4%20 http://www.terasic.com.tw/cgi-bin/page/archive.pl?Language=English&CategoryNo=167&No=1046&PartNo=4 ]

<div style="text-align:center;color:#4a4a4a;">[[Image: BAL_03_Hardware_Manual_pic_4.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 3‑4 DE10-Nano development board'''</div>

<div style="text-align:center;color:#4a4a4a;">[[Image: BAL_03_Hardware_Manual_pic_5.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 3‑5 Block diagram of DE10-Nano board'''</div>

Before developing the robot application, users need to get familiar with FPGA develop tools and process, master how to use DE10-Nano board, such as creating Quartus project, using Nios and Qsys tools, mastering advanced skill (i.e. using ARM CPU in the SoC FPGA). Below sections describe th e considerations that needs to be paid attention to when using DE10-Nano on Self-Balancing Robot and some commonly used interfaces on DE10-Nano.
== 3-2 The DE10-Nano for Self-Balancing Robot ==

The DE10-Nano board used on the robot has a few differences with the retail version of the DE10-Nano on the Terasic website. As shown in Figure 3 -6, the main difference is that the 2x20-pin GPIO connector (GPIO0) and the 2x 5 ADC(J15) connector are on the bottom of the DE10-Nano board on the robot, i.e. compared to the retail version of DE10-Nano board, the GPIO0 and ADC connectors on the DE10-Nano of the robot are the opposite of 180 degrees, which is convenient to connect to motor driver board, as shown in Figure 3 -7.

<div style="text-align:center;color:#ff0000;">[[Image: BAL_03_Hardware_Manual_pic_6.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 3‑6 Special connectors position on the DE10-Nano board of the robot'''</div>

<div style="text-align:center;color:#ff0000;"> [[Image: BAL_03_Hardware_Manual_pic_7.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 3‑7 Connect DE10-Nano board to motor driver board via GPIO connector'''</div>
== 3-3 2x20 Pin GPIO Connector ==

The DE10-Nano board has two 2x 20-pin GPIO connectors, GPIO 1 and GPIO 0. The GPIO 1 connector can be used as an extension function. User can use this connector to connect to other devices or daughter cards of the GPIO interface, such as Terasic D8M (800M pixel camera module). As described in last section, The GPIO 0 connector is used to connect motor driver board and transmit motor control signal and other communication/status signal (see Figure 3 -8). In Addition, the motor driver board provides 5V power to DE10-Nano board through the GPIO 0 connector.

<div style="text-align:center;color:#ff0000;"> [[Image: BAL_03_Hardware_Manual_pic_8.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 3‑8 Connection between DE10-Nano GPIO 0 and motor driver board'''</div>

For more interface on the motor driver board, please refer to the chapter 4 for detailed.
== 3-4 ADC Connector ==

As described in [[#OLELINK64|Section 2.2]], the ADC connector is soldered on the DE10-Nano board’s bottom side, it can connect to motor driver board conveniently as shown in Figure 3 -9.

<div style="text-align:center;color:#4a4a4a;"> [[Image: BAL_03_Hardware_Manual_pic_9.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 3‑9 The ADC connector on DE10-Nano board'''</div>

The ADC 2x 5 pin connector is connected to A/D converter(LTC2308), finally connected to FPGA. The A/D converter has a 500ksps, 8-channel interface. The battery voltage information on the Self-Balancing robot will be transmitted to FPGA via ADC Connector and motor driver board sensor circuit. The SoC FPGA system can read the battery voltage information and show the value on smartphone APP.
== 3-5 LEDs ==

There are some LEDs on the DE10-Nano which can be used for status display or user defined purpose (See Figure 3 -10). Under the factory setting, these LEDs will indicate power status, moving direction, operate mode and so on. Table 3-1 describes the LEDs function.

<div style="text-align:center;">[[Image: BAL_03_Hardware_Manual_pic_10.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 3‑10 Indicator LEDs on DE10-Nano board'''</div>

<div style="text-align:center;margin-left:0cm;margin-right:0cm;"> '''Table 3‑1 Indicator LEDs on DE10-Nano board'''</div>

{| align="center" style="border-spacing:0;width:15.512cm;"
|-
| style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | '''LED name'''
| style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | '''LED status'''
| style="background-color:#bfbfbf;border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | '''Description'''
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 3.3V power LED
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Light On
| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Power DE10-Nano board with 3.3V from GPIO interface.
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | CONF_D
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Light On
| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | DE10-Nano board Configuration done
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | LED7
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Light On
| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Robot is keeping balance status
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | LED6~5
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <div style="color:#000000;">0--Light On</div>

<div style="color:#000000;">1--Light off</div>
| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">00--robot is in default mode (Bluetooth & IR control)</span>

<div style="color:#000000;">01--robot is in default mode and implements obstacle avoidance function</div>

<div style="color:#000000;">10--robot implements object following function</div>
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | LED4
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Light On
| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Battery power supply voltage is lower than 10V
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | LED3
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Light On
| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Robot is turning right
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | LED2
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Light On
| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Robot is turning left
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | LED1
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Light On
| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Robot is moving backward
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | LED0
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Light On
| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Robot is moving forward
|-
|}
<div style="text-align:center;"><span style="color:#ff0000;">Note: When </span><span style="color:#ff0000;">a</span><span style="color:#ff0000;">ll the LED3~0 are light on, the robot is in DEMO mode</span><span style="color:#ff0000;">.</span></div>

== 3-6 Switches ==

The DE10-Nano board has four slide switches connected to the FPGA, which are allowed to be used as data inputs for robot functions. In the factory setting, these switches are set to switch functions, such as enabling ultrasonic object following and obstacle avoidance, switching to Bluetooth or IR remote control mode. Figure 3-11 shows the SW0 and SW1 on DE10-Nano board, Table 3-2 describes the corresponding modes and functions when SW0 and SW1 are set to different positions.

<div style="text-align:center;color:#4a4a4a;"> [[Image: BAL_03_Hardware_Manual_pic_11.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 3‑11 SW0 and SW1 on DE10-Nano board'''</div>

<div style="text-align:center;margin-left:0cm;margin-right:0cm;"> '''Table 3‑2 SW0 and SW1 purpose'''</div>

{| align="center" style="border-spacing:0;width:14.762cm;"
|-
| style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | '''SW0&SW1 position'''
| style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | '''Robot mode and function'''
| style="background-color:#bfbfbf;border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | '''Description'''
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 00
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">Default mode (Bluetooth &IR mode) </span>
| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | The robot can be controlled by smartphone APP and IR remote control
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 10
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Default mode & Obstacle Avoidance
| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | The robot can be controlled by smartphone APP and IR remote control, it implements the obstacle avoidance function
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 01
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Object following and obstacle avoidance
| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | The robot implements the object following and obstacle avoidance
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 11
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Debug mode
| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Only support ARM version robot, the control program will stop running, user need to reboot the robot or run the program again to control the robot. Normally it is use to debug the robot.
|-
|}
<div style="color:#ff0000;text-align:center">Note: 0-Switch is on Down position;1-Switch is on Up position</div>

== 3-7 USB Blaster II Connector ==

User can configure DE10-Nano SoC FPGA via USB Blaster II connector, use the Singaltab tool (In the Quartus software) to debug, and program the EPCS128 device through JTAG chain. Figure 3-12 shows the USB Blaster II connector. Please refer to Getting_Started_Guide.pdf in the DE10-Nano system CD on how to use the USB Blaster II connector.

<div style="text-align:center;color:#ff0000;"> [[Image: BAL_03_Hardware_Manual_pic_12.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 3‑12 USB Blaster II connector'''</div>
== 3-8 2x20 EPCS64 Device ==

The EPCS64 device is used to configure FPGA automatically when the DE10-Nano board is powered on. As shown in Figure 3 -13, please note the MSEL should be set to AS mode (MSEL[4:0] = "10010") if FPGA is configured from EPCS64, user can use this MSEL setting to control the self-balancing robot via Nios system.

<div style="text-align:center;color:#4a4a4a;"> [[Image: BAL_03_Hardware_Manual_pic_13.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 3‑13 Set MSEL to AS mode'''</div>
== 3-9 Micro SD Card ==

The board supports one Micro SD card socket on HPS side, it’s shown in Figure 3 -14. User can insert the Micro SD card with the pre-built Linux image into the socket and set the MSEL switch to FPP x 32 mode: MSEL [4:0] = "01010", as shown in Figure 3 -15. DE10-Nano board can boot up from the SD card to run Linux OS. User can use this MSEL setting to control the self-balancing robot via ARM system.

<div style="text-align:center;color:#ff0000;"> [[Image: BAL_03_Hardware_Manual_pic_14.jpg|300px]]</div>

<div style="text-align:center;"> '''Figure 3‑14 DE10-Nano micro SD card socket'''</div>

<div style="text-align:center;color:#4a4a4a;"> [[Image: BAL_03_Hardware_Manual_pic_15.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 3‑15 Set MESL to FPP x 32 mode'''</div>

== 3-10 UART to USB ==

When running Linux OS on the DE10-Nano board, user can connect UART port with PC via Mini-B USB cable and debug. User can refer to ''Getting_Started_Guide.pdf'' in the DE10-Nano System CD on how to use the UART port.

<div style="text-align:center;color:#ff0000;"> [[Image: BAL_03_Hardware_Manual_pic_16.jpg|500px]]</div>

<div style="text-align:center;">'''Figure 3‑16 UART to USB port'''</div>
== 3-11 Power Jack on DE10-Nano ==

The DE10-Nano board has a 5V power jack used as power input, as shown in Figure 3 -17. The board can be powered through a DC 5V@2A power adapter when user wants to use the DE10-Nano board separately.

<div style="text-align:center;color:#ff0000;"> [[Image: BAL_03_Hardware_Manual_pic_17.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 3‑17 5V DC power jack for DE10-Nano board'''</div>

'''Caution!''' In the Self-Balancing robot's power system, the DE10-Nano's power supply is provided by the motor driver board via GPIO 0. When using the robot, please do not connect any 5V power supply to this Power JACK. Also, do not use a 12V lithium battery to connect this power jack (See Figure 3 -18).

<div style="text-align:center;color:#ff0000;">[[Image: BAL_03_Hardware_Manual_pic_18.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 3‑18 Connect Power JACK to 12V Battery is banned'''</div>
== 3-12 Other Interfaces on DE10-Nano Board ==

Regarding how to use other interfaces on DE10-Nano board, such as HDMI TX, Ethernet and USB OTG, please refer to DE10-Nano_User_manual.pdf and datasheets in the DE10-Nano system CD.

= <span style="color:#000080;">Chpater4 Motor Driver Board</span> =
This chapter describes the functions and devices on motor driver board. The main function of this board is receiving motor control signal from FPGA, control the motor through motor control circuit. Besides, the board has communication components, such as Bluetooth and Wi-Fi module, IR remote control, ultrasonic module. The board has analog sensors which can provide motion tracking and battery voltage information.
== 4-1 Board Layout ==

Figure 4-19 shows the layout of the motor driver board.

<div style="text-align:center;color:#4a4a4a;"> [[Image: BAL_03_Hardware_Manual_pic_19.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 4‑19 The board layout of motor driver board'''</div>
== 4-2 Block Diagram ==

Figure 4-20 shows the block diagram of motor driver board.

<div style="text-align:center;color:#4a4a4a;">[[Image: BAL_03_Hardware_Manual_pic_20.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 4‑20 The block diagram of motor driver board'''</div>
== 4-3 12V Power Jack and Power Switch ==

The robot system’s power input connector is located on motor driver board, it’s a 12V DC power jack, as shown in Figure 4-21 which is used to connect 12V battery or power adapter. Note that when using the power adapter to power the robot, please make sure the output current of the power adapter can provide over 1.5A, otherwise the robot may not be able to boot up normally. Once a 12V power source is connected to the power jack on the robot, user can switch system power off and on by the power switch, as shown in Figure 4 -21.

<div style="text-align:center;color:#ff0000;"><span style="color:#000000;">[[Image: BAL_03_Hardware_Manual_pic_21.jpg|500px]]</span><span style="color:#000000;"></span></div>

<div style="text-align:center;"> '''Figure 4‑21 12V DC power jack and power switch on motor driver board'''</div>
== 4-4 LEDs on Motor Driver Board ==

The motor driver board has two LEDs, LED1 and LED2, as shown in Figure 4 -22. They indicate the system 12V power input and DE10-Nano 5V power status, respectively. When LED1 lights on, it indicates the system is powered on by battery or 12V power from power adapter. When LED2 lights on, indicates motor driver board provide 5V power to DE10-Nano board. Table 4-3 describes the functions of LED1 and LED2.

<div style="text-align:center;color:#4a4a4a;"> [[Image: BAL_03_Hardware_Manual_pic_22.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 4‑22 Indicator LEDs on DE10-Nano board'''</div>

<div style="text-align:center;margin-left:0cm;margin-right:0cm;"> '''Table 4‑3 Indicator LEDs on the DE10-Nano board'''</div>

{| align="center" style="border-spacing:0;width:14.651cm;"
|-
| style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | '''LED name'''
| style="background-color:#bfbfbf;border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | '''Description'''
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | LED1
| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Indicates the power supply status of motor driver board
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | LED2
| style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Indicates motor driver board provide 5V power to DE10-Nano board
|-
|}

== 4-5 GPIO Connector ==

As described in [[#OLELINK67|Section 3.3]] GPIO connector on motor driver board is used to connect with DE10-Nano, the corresponding signal information will be described in below sections.
== 4-6 Bluetooth and Wi-Fi Module ==

ESP-WROOM-32 is a universal Wi-Fi/Bluetooth/BLE MCU module, it integrates traditional lower power consumption Bluetooth and Wi-Fi features, and has a wide range of uses: the Wi-Fi supports a wide range of communication and also supports connecting to internet directly via router; Bluetooth allows user to connect a cell phone or broadcast BLE Beacon to facilitate signal detection. The module provides several connectors like SPI/SDIO or I2C/UART that are connected to FPGA, as shown in Figure 4 -23, which allows user to communicate with other Wi-Fi or Bluetooth device quickly. The ESP32 module in the self-balancing robot, only UART port (board rate 115200) is used to be connected to the FPGA. Also, only Bluetooth protocol is used for wireless connection. If user want to use the ESP32 with different protocol. User need to re-configure the ESP32 module. Please refer to ESP32 datasheet for details. Table 4-4 describes the pin assignments for connection between ESP32 and FPGA.

<div style="text-align:center;color:#ff0000;">[[Image: BAL_03_Hardware_Manual_pic_23.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 4‑23 The connection between ESP32 and FPGA'''</div>

<div style="text-align:center;margin-left:0cm;margin-right:0cm;"> '''Table 4‑4 Pin assignment between ESP32 and FPGA'''</div>

{| align="center" style="border-spacing:0;width:17.441cm;"
|-
| style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | '''ESP32 Signal Name'''
| style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''GPIO Pin No.'''
| style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''DE10-Nano FPGA Pin Assignment'''
| style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''Descriptions'''
| style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''Direction for FPGA'''
| style="background-color:#bfbfbf;border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | '''I/O Standard'''
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | ESP32_EN
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 2
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | E8
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Chip-enable signal. Active high.
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">o</span><span style="color:#4a4a4a;">utput</span>
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | ESP32_UART0_TX
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 27
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | AA19
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | UART Transmitter
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">o</span><span style="color:#4a4a4a;">utput</span>
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | ESP32_UART0_RX
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 28
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | W11
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | UART Receiver
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">i</span><span style="color:#4a4a4a;">nput</span>
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | ESP32_UART0_RTS
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 32
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | AA18
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | UART Request to Send
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">o</span><span style="color:#4a4a4a;">utput</span>
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | ESP32_UART0_CTS
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 31
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | W14
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | UART Clear to Send
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">i</span><span style="color:#4a4a4a;">nput</span>
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | ESP32_CMD0
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 33
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Y18
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">GPIO (Reserved) *1</span>
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">i</span><span style="color:#4a4a4a;">nput</span>
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | ESP32_CMD1
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 35
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | AB25
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">GPIO (Reserved) *1</span>
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">i</span><span style="color:#4a4a4a;">nput</span>
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | ESP32_CMD2
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 37
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Y11
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">GPIO (Reserved) *1</span>
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">i</span><span style="color:#4a4a4a;">nput</span>
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | ESP32_CMD3
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 39
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | AA13
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">GPIO (Reserved) *1</span>
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">i</span><span style="color:#4a4a4a;">nput</span>
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | ESP32_CMD4
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 34
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Y17
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">GPIO (Reserved) *1</span>
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">i</span><span style="color:#4a4a4a;">nput</span>
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | ESP32_CMD5
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 36
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | AB26
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">GPIO (Reserved) *1</span>
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">i</span><span style="color:#4a4a4a;">nput</span>
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | ESP32_CMD6
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 38
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | AA26
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">GPIO (Reserved) *1</span>
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">i</span><span style="color:#4a4a4a;">nput</span>
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | ESP32_CMD7
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 40
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | AA11
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">GPIO (Reserved) *1</span>
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">i</span><span style="color:#4a4a4a;">nput</span>
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | ESP32_CMD8
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 9
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | AF4
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">GPIO (Reserved) *1</span>
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">i</span><span style="color:#4a4a4a;">nput</span>
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
|}
<span style="color:#ff0000;"><nowiki>*1：</nowiki></span><span style="color:#ff0000;">N</span><span style="color:#ff0000;">ote</span><span style="color:#ff0000;">, ESP32_CMD[8:0] I/Os are reserved for user to set other </span> <span style="color:#ff0000;">protocol</span><span style="color:#ff0000;">. user can modify the setting in ESP-WROOM-32 and specify these I/Os as special connectors. </span>
== 4-7 Motion Tracking Device ==

The motor driver board includes one motion tracking device MPU-6500 which plays an important core role. The MPU-6500 contains a 3-axis gyroscope, 3-axis accelerometer and a Digital Motion Processor™ (DMP). The gyroscope can calculate the angular velocity of the 3-axis, the accelerometer can calculate the acceleration of the 3-axis. These two data can be used to determine the tilt angle of the robot as well as the direction and the attitude status of the robot. It is a key parameter to maintain the balance of the robot. The robot can read data stored in MPU-6500 through I2C interface from FPGA. As shown in Figure 4 -24, the I2C address is 0xD2/0xD3. Table 4-5 describes the pin assignments for connection between MPU-6500 and FPGA.

<div style="text-align:center;color:#ff0000;"> [[Image: BAL_03_Hardware_Manual_pic_24.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 4‑24 The connection between MPU-6530 and FPGA'''</div>

<div style="text-align:center;margin-left:0cm;margin-right:0cm;"> '''Table 4‑5 Pin assignment for connection between MPU-6500 and FPGA'''</div>

{| align="center" style="border-spacing:0;width:17.441cm;"
|-
| style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | '''MPU-6500 Signal Name'''
| style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''GPIO Pin No.'''
| style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''DE10-Nano FPGA Pin Assignment'''
| style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''Descriptions'''
| style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''Direction for FPGA'''
| style="background-color:#bfbfbf;border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | '''I/O Standard'''
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | MPU_CS_n
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | 17
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | AD23
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | Chip-enable signal. Active high.
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | Output
| style="border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | MPU_SCL_SCLK
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | 19
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | D12
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | I2C serial clock (SCL); SPI serial clock (SCLK)
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | Output
| style="border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | MPU_SDA_SDI
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | 20
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | AD20
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | I2C serial data (SDA); SPI serial data input (SDI)
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | Input
| style="border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | MPU_AD0_SDO
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | 21
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | C12
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | I2C Slave Address LSB (AD0); SPI serial data output (SDO)
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | Output
| style="border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | MPU_FSYNC
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | 22
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | AD17
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | Frame synchronization digital input. Connect to GND if unused.
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | Output
| style="border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | MPU_INT
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | 1
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | V12
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | Interrupt digital output
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | Input
| style="border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | 3.3-V 
|-
|}

== 4-8 Motor Driver ==

The motor driver board has a motor driver device TB6612FNG, which is responsible for driving motors. The TB6612FNG device provides two channels for output which can control the two motors on the robot simultaneously, each channel provides 1.2A output current, as shown in Figure 4 -25.

The motor driver can receive control signals from the FPGA and provide four control methods for the motor: clockwise(CW) rotation, counterclockwise(CCW) rotation, brake and stop, as shown in Table 4 -6. <span style="color:#0000ff;">Note that, there are some photo couplers between the FPGA and TB6612FNG for protection purpose. Therefore, the logic of control signal output from FPGA should be opposite to the logic described in the TB6612FNG datasheet, such us </span> <span style="color:#0000ff;">MTRR_P</span><span style="color:#0000ff;">, MTRR_N and MTR_STBY. The only special case is that although MTR_PWMA and MTR_PWMB have passed the photo couplers, but the control logic is not reversed.</span>

The PWM control signal can be up to 100KHz, in our demo, it is set to 7.124KHz. Table 4-7 describes the pin assignments for motor driver TB6612FNG interface.

<div style="text-align:center;"> [[Image: BAL_03_Hardware_Manual_pic_25.jpg|700px]]</div>

<div style="text-align:center;"> '''Figure 4‑25 The connection between Motor Driver and FPGA'''</div>

<div style="text-align:center;margin-left:0cm;margin-right:0cm;"> '''Table 4‑6 The control modes supported by motor driver'''</div>

{| align="center" style="border-spacing:0;width:17.461cm;"
|-
| colspan="4" align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">'''F</span><span style="color:#000000;">PGA Control Output'''</span>
| colspan="4" align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">'''Driver </span><span style="color:#000000;">Input'''</span>
| colspan="2" style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <div style="color:#000000;">'''Driver'''</div>
<div style="color:#000000;">'''Output'''</div>
| align=center style="background-color:#bfbfbf;border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">'''Mode</span><span style="color:#000000;">s</span><span style="color:#000000;"> description'''</span>
|-
| align=center style="background-color:#f2f2f2;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">'''M</span><span style="color:#000000;">TRX_P'''</span>
| align=center style="background-color:#f2f2f2;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">'''M</span><span style="color:#000000;">TRX_N'''</span>
| align=center style="background-color:#f2f2f2;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | '''MTR_PWMX'''
| align=center style="background-color:#f2f2f2;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">'''M</span><span style="color:#000000;">TRX_STBY'''</span>
| style="background-color:#f2f2f2;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | '''IN1'''
| align=center style="background-color:#f2f2f2;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | '''IN2'''
| align=center style="background-color:#f2f2f2;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | '''PWM'''
| align=center style="background-color:#f2f2f2;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | '''STBY'''
| align=center style="background-color:#f2f2f2;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | '''O1'''
| align=center style="background-color:#f2f2f2;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left :0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | '''O2'''
| align=center style="background-color:#f2f2f2;border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">'''-</span><span style="color:#000000;">-　'''</span>
|-
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1/0
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1/0
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Short brake
|-
| rowspan="2" align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1
| rowspan="2" align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| rowspan="2" align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| rowspan="2" align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | CCW
|-
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| align=center style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Short brake
|-
| rowspan="2" align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| rowspan="2" align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| rowspan="2" align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1
| rowspan="2" align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | CW
|-
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| align=center style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Short brake
|-
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1
| colspan="2" style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <div style="color:#000000;"> OFF</div>

<span style="color:#000000;">(</span><span style="color:#000000;">High Impedance)</span>
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Stop
|-
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0/1
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0/1
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <span style="color:#000000;">1</span><span style="color:#000000;">/0</span>
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1/0
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1/0
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 1/0
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | 0
| colspan="2" style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;" | <div style="color:#000000;">OFF</div>

<span style="color:#000000;">(</span><span style="color:#000000;">High Impedance)</span>
| align=center style="border-top:none;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | Standby
|-
|}

<div style="color:#000000;margin-left:0cm;margin-right:0cm;"></div>

<div style="text-align:center;margin-left:0cm;margin-right:0cm;"> '''Table 4‑7 The pin assignments for motor driver TB6612FNG'''</div>

{| align="center" style="border-spacing:0;width:17.441cm;"
|-
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | '''Motor Driver Signal Name'''
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''GPIO Pin No.'''
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''DE10-Nano FPGA Pin Assignment'''
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''Descriptions'''
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''Direction for FPGA'''
| align=center style="background-color:#bfbfbf;border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | '''I/O Standard'''
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | MTRR_P
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 4
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | AH13
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Right Motor Control Signal Input 1 
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Output
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | MTRR_N
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 3
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | AA19
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Right Motor Control Signal Input 2
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Output
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | MTRL_P
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 5
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | W11
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Left Motor Control Signal Input 1 
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Output
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | MTRL_N
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 8
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | AA18
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Left Motor Control Signal Input 2 
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Output
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | MTR_STBY
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 10
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | W14
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Standby (Power save) Control Signal
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Output
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | MTR_PWMA
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 4
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | D11
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Right Motor PWM 
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Output
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | MTR_PWMB
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 18
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | AE24
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Left Motor PWM 
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Output
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
|}

== 4-9 DC Motor and Connector ==

As shown in Figure 4 -26, the motors used on the Self-Balancing Robot are DC deceleration motors. Different from the ordinary motor, the deceleration motor has Speed Reducer which can reduce the rotation speed and increase the torque. After speed reduced, the torque of DC motor is increased, controllability is stronger, Table 4-8 lists the parameters.

<div style="text-align:center;color:#4a4a4a;"> [[Image: BAL_03_Hardware_Manual_pic_26.jpg|200px]]</div>

<div style="text-align:center;"> '''Figure 4‑26 DC geared motor with speed reducer'''</div>

<div style="text-align:center;margin-left:0cm;margin-right:0cm;"> '''Table 4‑8 DC motor parameters'''</div>

{| align="center" style="border-spacing:0;width:12.518cm;"
|-
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | '''Vender'''
| colspan="2" align=center style="border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | ASLONG
|-
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | '''Part Number'''
| colspan="2" align=center style="border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | JGB37-520B
|-
| rowspan="2" align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | '''Voltage'''
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | Workable Range
| align=center style="border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | 6~15V
|-
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | Rated
| align=center style="border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | 12V
|-
| rowspan="2" align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | '''No Load'''
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | Speed
| align=center style="border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | 333rpm
|-
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | Current
| align=center style="border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | 120ma
|-
| rowspan="4" align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | '''Load Torque'''
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | Speed
| align=center style="border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | 266rpm
|-
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | Current
| align=center style="border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | 350ma
|-
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | Torque
| align=center style="border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | 1.14kg.cm
|-
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | Output
| align=center style="border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | 3W
|-
| rowspan="2" align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | '''Stall'''
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | Torque
| align=center style="border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | 4.5kg.cm
|-
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | Current
| align=center style="border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | 1ma
|-
| rowspan="2" align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | '''Reducer'''
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | Ratio
| align=center style="border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | 1:30
|-
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | Size
| align=center style="border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | 22mm
|-
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | '''Weight'''
| colspan="2" align=center style="border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | 180g
|-
|}

The motor also has two Hall effect sensor and encoder. As shown in Figure 4 -27, the encoder outputs AB-phase square wave to the FPGA(See Figure 4 -28). User can get the rotate speed through the square wave pulse numbers, also can acquire the motor rotate direction through the AB-phase differential, as shown in Figure 4 -29, the motor is forward-rotating when the A-phase is lead ahead of B-phase. User can use these data for balance control. Table 4-9 describes the pin assignments for motor AB-phase signal<span style="color:#666699;"><span style="color:#000000;">.</span></span>

<div style="text-align:center;color:#4a4a4a;"> [[Image: BAL_03_Hardware_Manual_pic_27.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 4‑27 DC motor pins definition'''</div>

<div style="text-align:center;color:#4a4a4a;"> [[Image: BAL_03_Hardware_Manual_pic_28.jpg|700px]] </div>

<div style="text-align:center;"> '''Figure 4‑28 Connection setup for DC motor'''</div>

<div style="text-align:center;">[[Image: BAL_03_Hardware_Manual_pic_29.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 4‑29 AB-phase square waveform that outputs from Hall Effect encoder'''</div>

<div style="text-align:center;margin-left:0cm;margin-right:0cm;"> '''Table 4‑9 Pin assignments for motor connector'''</div>

{| align="center" style="border-spacing:0;width:17.441cm;"
|-
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | '''Motor Encoder Signal Name'''
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''GPIO Pin No.'''
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''DE10-Nano FPGA Pin Assignment'''
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''Descriptions'''
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''Direction for FPGA'''
| align=center style="background-color:#bfbfbf;border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | '''I/O Standard'''
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | MTRR_A
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 11
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | AD5
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | The Right Motor Encoder A Signal
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Input
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | MTRR_B
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 12
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | AG14
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | The Right Motor Encoder B Signal
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Input
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | MTRL_A
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 13
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | AE23
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | The Left Motor Encoder A Signal
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Input
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | MTRL_B
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 14
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | AE6
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | The Left Motor Encoder B Signal
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Input
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
|}

== 4-10 Ultrasonic Module ==

The self-Balancing Robot equips an ultrasonic module interface which can connect with two ultrasonic modules and used to detect the distance of the obstacle in front of the robot, as shown in Figure 4 -30, normally only one module is used. Figure 4-31 shows the default plugin position for the ultrasonic module. The ultrasonic module used on the robot is HC-SR04, when the robot needs to detect the obstacle in front of it, the module emits at least 10us high frequency signal, the module will emit a series of 40KHz sound wave and receive the reflection signal reflected by the nearest obstacle, as shown in Figure 4 -32.

<div style="text-align:center;"> [[Image: BAL_03_Hardware_Manual_pic_30.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 4‑30 Connection between ultrasonic module and FPGA'''</div>

<div style="text-align:center;color:#ff0000;"> [[Image: BAL_03_Hardware_Manual_pic_31.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 4‑31 Connection setup for Ultrasonic module'''</div>

<div style="text-align:center;color:#4a4a4a;">[[Image: BAL_03_Hardware_Manual_pic_32.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 4‑32 Ultrasonic module working diagram'''</div>

After receiving the reflection signal, Echo pin level will be high, the duration of the high level is the time that the ultrasonic signal is received from the reflection of the obstacle. The distance between the module and obstacle is calculated by formula below. Table 4-10 describes Pin Assignments for Ultrasonic Module, Figure 4-33 shows the Time sequence diagram of the ultrasonic module, Table 4-11 describes the electrical characteristics of the ultrasonic module.

Duration of the high level * sound speed (340M/S)/2

<span style="color:#ff0000;">Note: It is divided by 2 in the formula, the reason is that this distance between emission and reflection is twice of the object</span>.

<span style="color:#666699;"><span style="color:#000000;">.</span></span>

<div style="text-align:center;margin-left:0cm;margin-right:0cm;"> '''Table 4‑10 Pin assignments for ultrasonic module'''</div>

{| align="center" style="border-spacing:0;width:17.441cm;"
|-
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | '''Ultrasonic Module Signal Name'''
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''GPIO Pin No.'''
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''DE10-Nano FPGA Pin Assignment'''
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''Descriptions'''
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''Direction for FPGA'''
| align=center style="background-color:#bfbfbf;border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | '''I/O Standard'''
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | TRIG0
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 21
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | AC23
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Module Triger Signal 0
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Output
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | ECHO0
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 22
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | AC22
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">Module Echo Signal 0 </span>
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Input
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | TRIG1
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 23
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Y19
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Module Triger Signal 1
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">Output</span>
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | ECHO1
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 24
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | AB23
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;" | <span style="color:#4a4a4a;">Module Echo Signal 1 </span>
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Input
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
|}
<div style="text-align:center;">[[Image: BAL_03_Hardware_Manual_pic_33.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 4‑33 Timing waveform of the ultrasonic module'''</div>

<div style="text-align:center;margin-left:0cm;margin-right:0cm;"> '''Table 4‑11 Ultrasonic module electrical characteristics'''</div>

{| align="center" style="border-spacing:0;width:15.065cm;"
|-
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | '''Electrical Characteristics'''
| align=center style="background-color:#bfbfbf;border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#000000;" | '''HC-SR04 Ultrasonic Module'''
|-
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#4a4a4a;" | Working Voltage
| align=center style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#4a4a4a;" | DC 5V
|-
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#4a4a4a;" | Working Current
| align=center style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#4a4a4a;" | 15mA
|-
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#4a4a4a;" | Working Frequency
| align=center style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#4a4a4a;" | 40Hz
|-
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#4a4a4a;" | Max Range
| align=center style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#4a4a4a;" | 4m
|-
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#4a4a4a;" | Min Range
| align=center style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#4a4a4a;" | 2cm
|-
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#4a4a4a;" | Measuring Angle
| align=center style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#4a4a4a;" | 15 degrees
|-
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#4a4a4a;" | Trigger Input Signal
| align=center style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#4a4a4a;" | 10Us TTL pulse
|-
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#4a4a4a;" | Echo Output Signal
| align=center style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#4a4a4a;" | Input TTL level signal and the range in proportion
|-
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#4a4a4a;" | Dimension
| align=center style="border:0.5pt solid #000000;padding-top:0cm;padding-bottom:0cm;padding-left:0.191cm;padding-right:0.191cm;color:#4a4a4a;" | 45*20*15mm
|-
|}

== 4-11 A/D Converter Power Monitor ==

The Self-Balancing Robot reserves a group of resistance as voltage divider circuit, which is used to transmit the battery voltage value to A/D Converter device on DE10-Nano board, the robot can read the battery voltage through FPGA, as shown in Figure 4 -34, Table 4-12 describe the pin assignments for A/D Conveter Power Monitor.

<div style="text-align:center;"> [[Image: BAL_03_Hardware_Manual_pic_34.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 4‑34 Battery power monitor block diagram'''</div>

<div style="text-align:center;margin-left:0cm;margin-right:0cm;"> '''Table 4‑12 Pin assignments for A/D Converter'''</div>

{| align="center" style="border-spacing:0;width:15.529cm;"
|-
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | ''' Signal Name'''
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''DE10-Nano FPGA Pin Assignment'''
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''Descriptions'''
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''Direction for FPGA'''
| align=center style="background-color:#bfbfbf;border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | '''I/O Standard'''
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;" | <span style="color:#4a4a4a;">A</span><span style="color:#4a4a4a;">DC_CONVST</span>
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | U9
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Conversion Start
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Output
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;" | <span style="color:#4a4a4a;">A</span><span style="color:#4a4a4a;">DC_SCK</span>
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | V10
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Serial Data Clock
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Output
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;" | <span style="color:#4a4a4a;">A</span><span style="color:#4a4a4a;">SC_SDO</span>
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | AC4
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Serial Data Input
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Input
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;" | <span style="color:#4a4a4a;">A</span><span style="color:#4a4a4a;">DC</span><span style="color:#4a4a4a;">_SDI</span>
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | AD4
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Serial Data Out (ADC to FPGA
| style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Output
| style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V 
|-
|}
<div style="text-align:center;"></div>
== 4-12 IR Receiver ==

The board comes with an IR remote control receiver module (model: IRM-V538/TR1), the datasheet of this module is provided in the directory \Datasheets\ IR Receiver and Emitter of Balancing Robot system CD. The remote control, which is optional and can be ordered from the website, has an encoding chip (uPD6121G) built-in for generating infrared signals. Figure 4-35 shows the connection of IR receiver to the FPGA. Table 4-13 shows the pin assignment of IR receiver to the FPGA<span style="color:#666699;"><span style="color:#000000;">.</span></span>

<div style="text-align:center;">[[Image: BAL_03_Hardware_Manual_pic_35.jpg|500px]]</div>

<div style="text-align:center;"> '''Figure 4‑35 The connection between IR receiver and FPGA'''</div>

<div style="text-align:center;margin-left:0cm;margin-right:0cm;"> '''Table 4‑13 Pin assignment of IR receiver'''</div>

{| align="center" style="border-spacing:0;width:15.272cm;"
|-
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#000000;" | '''Ultrasonic Module Signal Name'''
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''GPIO Pin No.'''
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''DE10-Nano FPGA Pin Assignment'''
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''Descriptions'''
| align=center style="background-color:#bfbfbf;border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#000000;" | '''Direction for FPGA'''
| align=center style="background-color:#bfbfbf;border:0.5pt solid #000000;padding:0.026cm;color:#000000;" | '''I/O Standard'''
|-
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.212cm;color:#4a4a4a;" | IR_RXD
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | 3
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | W11
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | IR Receiver
| align=center style="border-top:0.5pt solid #000000;border-bottom:0.5pt solid #000000;border-left:0.5pt solid #000000;border-right:none;padding:0.026cm;color:#4a4a4a;" | Input
| align=center style="border:0.5pt solid #000000;padding:0.026cm;color:#4a4a4a;" | 3.3-V
|-
|}

<div style="text-align:center;"></div>

= <span style="color:#000080;">Chpater5 Additional Information</span> =

<span style="color:#000080;">'''Getting Help'''</span>

Contact us via the following methods for further technical assistance:
*Terasic Inc.9F, No.176, Sec.2, Gongdao 5th Rd, East Dist, Hsinchu City, Taiwan 300-70
*Email : [mailto:support@terasic.com support@terasic.com]
*Web : [http://www.terasic.com/ www.terasic.com]

<div style="text-align:center;">''' Revision History'''</div>

{| align="center" style="border-spacing:0;width:13.781cm;"
|-
| style="border-top:0.5pt solid #999999;border-bottom:0.5pt solid #999999;border-left:0.5pt solid #999999;border-right:none;padding:0cm;" | '''Date'''
| style="border-top:0.5pt solid #999999;border-bottom:0.5pt solid #999999;border-left:0.5pt solid #999999;border-right:none;padding:0cm;" | '''Version'''
| style="border:0.5pt solid #999999;padding:0cm;" | '''Changes'''
|-
| style="border-top:0.5pt solid #999999;border-bottom:0.5pt solid #999999;border-left:0.5pt solid #999999;border-right:none;padding:0cm;" | '''2018.04.16'''
| style="border-top:0.5pt solid #999999;border-bottom:0.5pt solid #999999;border-left:0.5pt solid #999999;border-right:none;padding:0cm;" | '''First publication'''
| style="border:0.5pt solid #999999;padding:0cm;" |
|-
| style="border-top:0.5pt solid #999999;border-bottom:0.5pt solid #999999;border-left:0.5pt solid #999999;border-right:none;padding:0cm;color:#ff0000;" |
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|}

<div style="text-align:center;"> </div>