Norlab light control

See here repository controlling the arduino and ros examples

To regain control of Clearpath's LED panel, see here an in depth analysis,a custom arduino nano/stm32 PCB was produced. See bellow detailed schematics of the PCB and follow this link to edit the file. On the PCB three different structures are implemented through the following integrated circuits:

• PCA 9615 to enable differential to single i2C conversion
• MCP 2515 and TJA 1050 for can bus communication to monitor the batteries state of charge(soc) and general state
• FTDI FT232RL USB to UART conversion to be able to initiate serial communication without having to reset the micro controller

For full details on the LED PCB see here

Note that the current pcb in the warthog is the v1.0 and the necessary modification were made on v2.0

Prototype

This is the primitive version of the PCB

The box on the image bellow contains the following components:

• Arduino Uno
• Arduino canbus hat
• Spark fun differential I²C breakout board

The Arduino serves as a replacement to the clearpath mcu to control the led behavior as well as monitoring the state of the battery over can bus. To send data from the Arduino over the differential I²C bus a fork has been made directly on the board's multi signal connectors seen in the breakout PCB section.

See here the code running on the Arduino as well as code examples of ROS color control.