Connecting The Finger Optoswitch Connector about open_robot_actuator_hardware HOT 3 CLOSED

Hi,
we connect the optical sensor to one of the analog-in ports of the micro driver board.
There are two analog-in ports available per board (ADC-A6 and ADC-B6).
Both analog measurements are transmitted through the masterboard to the control pc at 1kHz.
The pins are marked in the screenshot below - you could use a 3 pin connector for connecting one optical sensor or a 4 pin connector for connecting two optical sensors.
Make sure to use the 3.3V supply voltage - the analog inputs don't tolerate higher voltages.
Best. Felix

from open_robot_actuator_hardware.

Does it matter to which micro driver i connect? cause there are 6 micro drivers (in the 12dof) and 4 sensors

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No - it doesn't matter - you will just need to process the right sensor values from the data stream.
You can connect the optical sensors to any micro diver board.
All 12 analog-in channels are transmitted to the pc.
I would connect one sensor to each of the top two cards in the front and in the back.
That way you have separate 3pin connectors for each sensor - and the upper cards are easier to access.
We use the 90 degree Hirose connectors on the micro driver board - that makes it easier to plug and unplug the sensors on the robot.

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