The uOrc board provides interfaces to motors, sensors, and various expansion boards. It has its own 32-bit ARM CPU running at 50MHz, giving it enough computational power to handle many tasks by itself. More typically, the uOrc is controlled from a small computer (like a laptop) via an ethernet interface. *50MHz ARM CortexM3 Microcontroller (Luminary LM3S8962) **64KB SRAM **256KB Single-cycle FLASH **Real-time kernel *100bT Ethernet * 3 High-current H-bridges with braking, open-circuit, and current sensing. These can be used to control (among other things) bi-directional brushed DC motors. * 2 quadrature phase decoders *8 14-bit digital-to-analog converters *8 "Flexible" digital I/O pins. Currently implemented: ** Servo control (for Futaba-style servos) ** Digital in (very low latency) ** Digital out (very low latency) *8 "Dumb" digital I/O pins, ideal for bump sensing and lower bandwidth applications. *Dedicated emergency stop input *I2C expansion bus *SPI expansion bus *Optional serial-to-USB adapter *Optional CAN bus interface
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