# Firmware

**Repository Path**: assurance06/Firmware

## Basic Information

- **Project Name**: Firmware
- **Description**: The code of lower-board for ZJUDancer
- **Primary Language**: C
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2019-05-17
- **Last Updated**: 2020-12-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# **Firmware 2019**

**The code of lower-board for ZJUDancer in 2019, designed by Jiang Zhang Yuchen and Jiang Chaofeng.**

**Lower-board is removed last year and TX1 controls motors directly through USB-UART-RS485. 
However, the test results show that the delay time in IMU data and motor data reading directly by upper-computer is massive, and it`s unacceptable. As a consequence, the concept of lower-board is used again. 
Core module is replaced by Motor module to reduce workload.**

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+ **ZJUDancer_code_motor**: Reads IMU data through SPI1 from IMU, sends data to upper-board through UART1, sends to and reads from Dynamixel motors through USART2/3/4 concurrently.

+ **ZJUDancer_code_foot**: Foot pressure sensor board, reads 4-way analog signals of pressure gauge through ADC1/2/3/4(DMA used). Pressure data is sent through UART1, and transferred into RS-485 signals to upper-computer.