Leg Connections

PWM Connections

Joint	Solenoid	Wire Color	Motor Controller Pin	Beaglebone Pin	Beaglebone PWM	PWM path	Sym link name
Thigh down	Thigh S2	Green	M1 Out 2	P9.22	ehrpwm0A	pwmchip0/pwm1/duty_cycle	pwm_thigh_down
Thigh up	Thigh S1	Black	M1 Out 1	P9.21	ehrpwm0B	pwmchip0/pwm0/duty_cycle	pwm_thigh_up
Knee retract	Knee S2	Green	M2 Out 2	P8.19	ehrpwm2A	pwmchip2/pwm0/duty_cycle	pwm_knee_retract
Knee extend	Knee S1	Black	M2 Out 1	P8.13	ehrpwm2B	pwmchip2/pwm1/duty_cycle	pwm_knee_extend

PWM root path:
/sys/class/pwm/

Sym Link Location: /mnt/hardware/

Analog Inputs

Sensor	Analog Input	Beaglebone Pin	Motor Controller Pin	AIN filename	Sym link name
Knee String Pot	AIN4	P9.33	-	in_voltage4_raw	ain_knee_str_pot
Thigh String Pot	AIN6	P9.35	-	in_voltage6_raw	ain_thigh_str_pot
Complient Link	AIN5	P9.36	-	in_voltage5_raw	ain_complient_link
Thigh Feedback	AIN2	P9.37	M1 FB	in_voltage2_raw	ain_thigh_feedback
Knee Feedback	AIN3	P9.38	M2 FB	in_voltage3_raw	ain_knee_feedback
Battery Voltage	AIN0	P9.39	-	in_voltage0_raw	ain_battery_voltage

Analog input root path:
/sys/devices/platform/ocp/44e0d000.tscadc/TI-am335x-adc/iio:device0/

Sym Link Location: /mnt/hardware/

GPIO

Sensor	GPIO	Beaglebone Pin	Motor Controller Pin	GPIO filename	Sym link name
M2_statusflag	GPIO0_26	P8.14	M2SF	gpio26	gpio_M2_statusflag
enable pin	GPIO0_27	P8.17	EN	gpio27	gpio_enable_pin
M1_statusFlag	GPIO0_31	P9.13	M1SF	gpio31	gpio_M1_statusFlag
DIP switch0	GPIO0_5	P9.17	-	gpio5	gpio_DIP_switch0
DIP switch1	GPIO0_4	P9.18	-	gpio4	gpio_DIP_switch1
DIP switch2	GPIO0_13	P9.19	-	gpio13	gpio_DIP_switch2
DIP switch3	GPIO0_12	P9.20	-	gpio12	gpio_DIP_switch3
DIP switch4	GPIO1_17	P9.23	-	gpio17	gpio_DIP_switch4
DIP switch5	GPIO0_15	P9.24	-	gpio15	gpio_DIP_switch5

GPIO root path:
/sys/class/gpio

Sym Link Location: /mnt/hardware/

Hip connections

PWM Connections

Joint	Solenoid	Wire Color	Motor Controller Pin	Beaglebone Pin	Beaglebone PWM	PWM path	Sym link name
Left Leg Forwards	Left Leg S2	Green	M1 Out 2	P9.22	ehrpwm0A	pwmchip0/pwm1/duty_cycle	pwm_lleg_forwards
Left Leg Back	Left Leg S1	Black	M1 Out 1	P9.21	ehrpwm0B	pwmchip0/pwm0/duty_cycle	pwm_lleg_backwards
Right Leg Forwards	Right Leg S2	Green	M2 Out 2	P8.19	ehrpwm2A	pwmchip2/pwm0/duty_cycle	pwm_rleg_forwards
Right Leg Back	Right Leg S1	Black	M2 Out 1	P8.13	ehrpwm2B	pwmchip2/pwm1/duty_cycle	pwm_rleg_backwards

PWM root path:
/sys/class/pwm/

Sym Link Location: /mnt/hardware/

Analog Inputs

Sensor	Analog Input	Beaglebone Pin	Motor Controller Pin	AIN filename	Sym link name
Left Leg String Pot	AIN4	P9.33	-	in_voltage4_raw	ain_lleg_str_pot
Right Leg String Pot	AIN6	P9.35	-	in_voltage6_raw	ain_rleg_str_pot
Left Leg Feedback	AIN2	P9.37	M1 FB	in_voltage2_raw	ain_lleg_feedback
Right Leg Feedback	AIN3	P9.38	M2 FB	in_voltage3_raw	ain_rleg_feedback
Battery Voltage	AIN0	P9.39	-	in_voltage0_raw	ain_battery_voltage

Analog input root path:
/sys/devices/platform/ocp/44e0d000.tscadc/TI-am335x-adc/iio:device0/

Sym Link Location: /mnt/hardware/

GPIO

Sensor	GPIO	Beaglebone Pin	Motor Controller Pin	GPIO filename	Sym link name
M2_statusflag	GPIO0_26	P8.14	M2SF	gpio26	gpio_M2_statusflag
enable pin	GPIO0_27	P8.17	EN	gpio27	gpio_enable_pin
M1_statusFlag	GPIO0_31	P9.13	M1SF	gpio31	gpio_M1_statusFlag
DIP switch0	GPIO0_5	P9.17	-	gpio5	gpio_DIP_switch0
DIP switch1	GPIO0_4	P9.18	-	gpio4	gpio_DIP_switch1
DIP switch2	GPIO0_13	P9.19	-	gpio13	gpio_DIP_switch2
DIP switch3	GPIO0_12	P9.20	-	gpio12	gpio_DIP_switch3
DIP switch4	GPIO1_17	P9.23	-	gpio17	gpio_DIP_switch4
DIP switch5	GPIO0_15	P9.24	-	gpio15	gpio_DIP_switch5

GPIO root path:
/sys/class/gpio

Sym Link Location: /mnt/hardware/