SparkFun Auto pHAT for Raspberry Pi 4 樹莓派機器人開發擴展板 可控 2個直流馬達與 4 個伺服馬達

描述

SparkFun Auto pHAT for Raspberry Pi 4 樹莓派機器人開發擴展板 可控 2個直流馬達與 4 個伺服馬達 支援 NVIDIA Jetson Nano  和 Google Coral

SparkFun Auto pHAT for Raspberry Pi 4 樹莓派機器人開發擴展板 適用於 Raspberry Pi 樹莓派是一款多合一的機器人開發擴展板，專注於快速為 Raspberry Pi 或其他單板計算機添加機器人擴展功能。Auto pHAT 可以通過 I2C方式連接。直接驅動兩個帶或不帶編碼器的小型直流電動機，以及多達四個伺服馬達。 伺服控制基於 SparkFun 伺服 pHAT，並且由於其 IIC 功能，此PWM插件節省了Raspberry Pi的GPIO引腳，使您可以將其用於其他目的。我們還提供了Qwiic連接器，可使用Qwiic系統輕鬆連接 I2C 總線。無論您將 Auto pHAT 與Raspberry Pi，NVIDIA，Jetson Nano，Google Coral還是其他SBC一起使用，它都為 2×20 GPIO 板提供了獨特的機器人技術。

直流電動機控制來自與SparkFun Qwiic電動機驅動器相同的4245 PSOC和2通道電動機端口系統。這樣每通道可提供1.2A穩態驅動（峰值1.5A）和127級直流驅動強度。板載的ATTINY84A可使SparkFun Auto pHAT最多支持兩個電機編碼器，從而為您的創作提供更精確的運動！

此外 SparkFun Auto pHAT for Raspberry Pi 4 樹莓派機器人開發擴展板 具有板載ICM-20948 9DOF IMU，可滿足您所有的運動感應需求。這使您的機器人可以訪問具有四個可選範圍的3軸陀螺儀，具有四個可選範圍的3軸加速度計和FSR為±4900µT的3軸磁力計。

可以通過USB-C連接器或外部電源為 SparkFun Auto pHAT for Raspberry Pi 4 樹莓派機器人開發擴展板 供電。這將僅為電動機供電，或者為電動機以及連接到HAT的Raspberry Pi供電。此USB-C連接器還可用於通過串行端口連接來連接Pi，以避免必須使用顯示器和鍵盤來設置Pi。我們甚至在設計中添加了電源保護電路，以避免損壞電源。

SparkFun Auto pHAT for Raspberry Pi 4 樹莓派機器人開發擴展板 特色

• 可使用Qwiic庫對4245 PSOC和2通道電機端口進行編程
• 板載ATTINY84A最多支持兩個直流電機編碼器
• RPi的5v直通
• 可通過Qwiic庫訪問的用於運動感應的ICM-20948 9DOF IMU上
• 最多四個伺服器的PWM控制
• Qwiic連接器可擴展到完整的SparkFun Qwiic生態系統
• 專為堆疊而設計，完全支持接頭，並且可以在其頂部使用其他pHAT
• 不受限制地訪問RPi相機連接器和顯示連接器。
• USB-C，用於為5V導軌供電（電機/伺服/為Pi供電）
• 外部電源輸入分解到PTH接頭連接器

文件與說明

• 原理圖
• 鷹文件
• 板子尺寸（PNG）
• 使用與連接指南
• Python軟件包：
  • Pi Servo pHAT
    • PCA9685
  • Qwiic SCMD
  • 雙編碼器讀卡器
  • Qwiic 9 DoF IMU（ICM20948）
• 亞博官網SparkFun HAT和pHAT
• GitHub硬件回購
• GitHub固件倉庫（Qwiic Dual Encoder Reader）
• GitHub固件倉庫（Qwiic Motor Driver）

SparkFun Auto pHAT for Raspberry Pi

The SparkFun Auto pHAT for Raspberry Pi is an all in one robotics package that focuses on quickly adding robot functionality and support to your Raspberry Pi or other single-board computer. The Auto pHAT can drive two small DC motors with or without encoders and up to four servo motors in a straightforward manner via an I²C connection. The servo control is based on the SparkFun servo pHAT and thanks to its I²C capabilities, this PWM add-on saves the Raspberry Pi’s GPIO pins, allowing you to use them for other purposes. We have also provided a Qwiic connector for easy interfacing with the I²C bus using the Qwiic system. Whether you use the Auto pHAT with a Raspberry Pi, NVIDIA, Jetson Nano, Google Coral, or other SBC, it makes for a unique robotics addition for and board with a 2×20 GPIO.

The DC motor control comes from the same 4245 PSOC and 2-channel motor ports system used on the SparkFun Qwiic Motor Driver. This provides 1.2A steady state drive per channel (1.5A peak) and 127 levels of DC drive strength. The SparkFun Auto pHAT also supports up to two motor encoders thanks to the onboard ATTINY84A to provide more precise movement to your creation!

Additionally, the Auto pHAT has an on-board ICM-20948 9DOF IMU for all your motion sensing needs. This enables your robot to access the 3-Axis Gyroscope with four selectable ranges, 3-Axis Accelerometer, again with four selectable ranges, and 3-axis magnetometer with an FSR of ±4900µT.

Power to the SparkFun Auto pHAT can be supplied through USB-C connector or external power. This will power either the motors only, or power the motors as well as the Raspberry Pi that is connected to the HAT. This USB-C connector can also be used to hook up the Pi via serial port connection to avoid having to use a monitor and keyboard for setting up the Pi. We’ve even added power protection circuits to the design, to avoid damage to power sources.

FEATURES

• 4245 PSOC and 2-channel motor ports programmable using Qwiic library
• On board ATTINY84A supports up to two DC motor encoders
• 5v pass-through from RPi
• On board ICM-20948 9DOF IMU for motion sensing accessible via Qwiic library
• PWM control for up to four servos
• Qwiic connector for expansion to full SparkFun Qwiic ecosystem
• Designed for stacking, full header support & can use additional pHATs on top of it
• Uninhibited access to the RPi camera connector & display connector.
• USB-C for powering 5V rail (Motors/Servos/backpowering Pi)
• External power inputs broken out to PTH headers