Electronics

A Main Computer located in the console collects user input and coordinates the motion of the robot. It communicates via Ethernet with leg controllers and hip controllers, which drive the solenoid valves for the hydraulics and collect sensor data from the string pots and compliant link sensor. The leg and hip controllers consist of Beaglebone Blacks with custom expansion capes.

An engine controller is also located in the console. It controls the pump bypass valves and throttle, and monitors the tachometer, engine (oil) temperature, hydraulic oil temperature, and hydraulic pressure.

The pilot controls on the console consist of a joystick, soft (safe) E-Stop button, mode switches, and (TBD) a hard E-Stop?. In addition, an API will be available for controlling everything via a laptop plugged into the router.

All electronics on the robot are powered by the engine battery and alternator. See power analysis.