Spider Specifications

• DE10-Nano Intel SoC FPGA board for the spider control
• Servo Motor Card for servo motor driving
• Metal gear servo motor - MG996R
• Aluminum body
• Remote control through bluetooth
• Power from 12V DC or Battery
• Open Source

DE10-Nano Board Features

FPGA Device

• Intel Cyclone® V SE 5CSEBA6U23I7  device (110K LEs)
• Serial configuration device  – EPCS64 (revision B2 or later)
• USB-Blaster II onboard for programming; JTAG Mode
• HDMI TX, compatible with DVI 1.0 and HDCP v1.4
• 2 push-buttons
• 4 slide switches
• 8 green user LEDs
• Three 50MHz clock sources from the clock generator
• Two 40-pin expansion headers
• One Arduino expansion header (Uno R3 compatibility), can be connected with Arduino shields
• One 10-pin Analog input expansion header (shared with Arduino Analog input)
• A/D converter, 4-pin SPI interface with FPGA

* If the specification of memory device in Quick Start Guide and official website is discordant, refer to DE10-Nano website as the sole stardard.

HPS (Hard Processor System)

• 800MHz Dual-core ARM Cortex-A9 processor
• 1GB DDR3 SDRAM (32-bit data bus)
• 1 Gigabit Ethernet PHY with RJ45 connector
• USB OTG Port, USB Micro-AB connector
• Micro SD card socket
• Accelerometer (I2C interface + interrupt)
• UART to USB, USB Mini-B connector
• Warm reset button and cold reset button
• One user button and one user LED
• LTC 2x7 expansion header

For more details, please visit "DE10-Nano": http://de10-nano.terasic.com

Servo Motor Card Features:

• 2X20 3.3V GPIO Interface
• Drive 24 servo motors at most
• Fuse protection for each servo driving port
• Build-In Altera CPLD and Power Monitor Chip:
  • Battery voltage monitor
  • Total current monitor
  • Auto shutdown when battery is low or total current is too high.
  • P.S. Source code is available for users to modify according to their application.

Servo Motor Card

System Block Diagram